CN117521425B - Wake flow interval determining method and system based on hybrid operation of unmanned aerial vehicle and organic vehicle - Google Patents
Wake flow interval determining method and system based on hybrid operation of unmanned aerial vehicle and organic vehicle Download PDFInfo
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Abstract
The invention relates to the technical field of wake interval analysis, and discloses a wake interval determining method and system based on mixed operation of an unmanned aerial vehicle and an organic vehicle, which are used for overcoming the defect that no interval analysis is performed on the unmanned aerial vehicle in wake interval analysis at present. Comprising the following steps: under the static wind condition, using an organic machine as a front machine, calibrating a central point of the front machine to obtain a front machine central point, and constructing a wake vortex rectangular coordinate system by using the front machine central point as a datum point; calculating the induction speed of the front engine to obtain a vertical induction speed; carrying out additional lift force calculation on the rear engine to obtain additional lift force of the rear engine; analyzing the induced rolling moment of the rear engine to obtain the induced rolling moment of the rear engine; performing rolling moment coefficient analysis on the induced rolling moment to obtain a rolling moment coefficient corresponding to the rear engine; dividing dangerous areas of the rear computer to obtain a plurality of corresponding dangerous areas; and respectively analyzing wake interval data of each dangerous area to obtain wake interval data corresponding to each dangerous area.
Description
Technical Field
The invention relates to the technical field of wake interval dynamic reduction, in particular to a wake interval determining method and system based on hybrid operation of an unmanned aerial vehicle and a man-machine.
Background
The wake flow is an additional product when the aircraft generates lift force, and wake flow interval standards are formulated by domestic and foreign civil aviation management departments according to wake flow intensity in order to prevent potential threat events such as rolling, steep pitching, descending height, stall and the like on the trailing aircraft after the trailing aircraft following the flight encounters the wake flow. With the increasing number of flights in large busy airports, the requirements for increasing the utilization rate of the airports are more and more urgent, and the reduction of wake intervals becomes an important work of domestic and foreign civil aviation management institutions. The civil aviation administration and researchers have made many studies based on the characteristics of the wake evolution of the aircraft, constantly optimizing and reducing the wake interval, and propose a corresponding interval reduction method. But these intervals are less suitable for unmanned aerial vehicles with smaller volumes for the rear aerial vehicle.
With the development of unmanned aerial vehicle technology, more unmanned aerial vehicles are put into air operation. In order to improve the utilization rate of limited airspace resources, the convergence between a remotely piloted aircraft system and the air management of an organic vehicle is a trend. In a mixed operation scene, particularly in an airport terminal area with higher flying quantity, a wake vortex field generated in the taking-off and landing process of an airplane can be one of threat sources for the low-altitude flight safety of an unmanned plane.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a wake interval determining method and system based on mixed operation of an unmanned aerial vehicle and an organic vehicle, which are used for overcoming the defect that no interval analysis is performed on the unmanned aerial vehicle in wake interval analysis at present.
The invention provides a wake interval determining method based on hybrid operation of an unmanned aerial vehicle and an organic vehicle, which comprises the following steps: under the condition of static wind, a preset man-machine is used as a front machine, the front machine is calibrated with a central point to obtain a front machine central point, and a wake vortex rectangular coordinate system is constructed by using the front machine central point as a reference point; calculating the induction speed of the front engine through the wake vortex rectangular coordinate system to obtain a vertical induction speed; taking a preset unmanned plane as a rear engine, and carrying out additional lift force calculation on the rear engine based on the vertical induction speed to obtain additional lift force of the rear engine; analyzing the induced rolling moment of the rear engine through the additional lifting force to obtain the induced rolling moment of the rear engine; performing rolling moment coefficient analysis on the induced rolling moment to obtain a rolling moment coefficient corresponding to the rear engine; the rear engine is subjected to dangerous area division through the rolling moment coefficient, so that a plurality of corresponding dangerous areas are obtained; and respectively analyzing wake interval data of each dangerous area to obtain wake interval data corresponding to each dangerous area.
In the invention, under the condition of static wind, a preset organic machine is taken as a front machine, the front machine is calibrated with a central point to obtain a front machine central point, and the front machine central point is taken as a datum point to construct a wake vortex rectangular coordinate system, which comprises the following steps: under the condition of static wind, the man-machine is taken as a front machine, and the front machine is calibrated with a central point to obtain the front machine central point; calibrating the flying speed direction of the front engine to obtain the flying speed direction corresponding to the front engine; for the front partPerforming wingspan direction calibration on the front engine to obtain a wingspan direction corresponding to the front engine; taking the front aircraft central point as a coordinate origin and the flying speed direction as a coordinate originDirection, in the wingspan direction +.>Direction of the object perpendicular to the direction of the flying speed>And constructing the wake vortex rectangular coordinate system in the direction.
In the present invention, the expression of the vertical induction speed is as follows:
；
wherein,for vertical induction speed, +.>Vertical induction speed of left vortex generated for the front engine acting on the rear engine, +.>Vertical induction speed of right vortex generated for the front engine acting on the rear engine, +.>Annular quantity data for the left vortex;the circular quantity data of the right vortex is obtained; />For the vortex nuclear coordinates of the left vortex produced by the front engine, < >>For the vortex nuclear coordinates of the right vortex generated by the front engine, < >>For the coordinates of any point in the vortex generated by the front engine +.>Is the radius of the vortex core.
In the invention, the step of obtaining the additional lift force of the rear engine by using the preset unmanned aerial vehicle as the rear engine and performing the additional lift force calculation on the rear engine based on the vertical induction speed comprises the following steps: and taking the unmanned aerial vehicle as a rear engine, and carrying out additional lift force calculation on the rear engine through the vertical induction speed based on a preset additional lift force calculation formula to obtain additional lift force of the rear engine, wherein the additional lift force calculation formula is as follows:
；
wherein,for the additional lift of the rear engine +.>Is infinity air density->For incoming flow speed, +.>For the lift line slope of the rear engine, < >>Fixing the chord length for the wing of the rear engine, < >>Is the wingspan data of the rear engine.
In the present invention, the step of analyzing the induced rolling moment of the rear engine by the additional lift force to obtain the induced rolling moment of the rear engine includes:
and carrying out induced rolling moment analysis on the rear engine through the additional lifting force based on a preset induced rolling moment calculation formula to obtain the induced rolling moment of the rear engine, wherein the induced rolling moment calculation formula is as follows:
；
wherein,to induce a roll moment.
In the invention, the step of analyzing the rolling moment coefficient of the induced rolling moment to obtain the rolling moment coefficient corresponding to the rear engine comprises the following steps:
and carrying out rolling moment coefficient analysis on the induced rolling moment through a preset rolling moment coefficient calculation formula to obtain a rolling moment coefficient corresponding to the rear engine, wherein the rolling moment coefficient calculation formula is as follows:
；
wherein,for the roll moment coefficient, +.>The wing area of the rear engine.
In the present invention, the step of dividing the dangerous area of the rear engine by the rolling moment coefficient to obtain a plurality of corresponding dangerous areas includes:
performing range calibration on the rolling moment coefficient to obtain corresponding coefficient range data;
and carrying out dangerous area division on the rear engine through the coefficient range data to obtain a plurality of dangerous areas.
The invention also provides a wake interval determining system based on the hybrid operation of the unmanned aerial vehicle and the unmanned aerial vehicle, which comprises the following steps:
the construction module is used for calibrating a central point of a front engine by taking a preset organic machine as the front engine under the condition of static wind to obtain the central point of the front engine, and constructing a wake vortex rectangular coordinate system by taking the central point of the front engine as a reference point;
the first calculation module is used for calculating the induction speed of the front engine through the wake vortex rectangular coordinate system to obtain a vertical induction speed;
the second calculation module is used for calculating the additional lift force of the rear aircraft based on the vertical induction speed by taking the preset unmanned aircraft as the rear aircraft, so as to obtain the additional lift force of the rear aircraft;
the first analysis module is used for analyzing the induced rolling moment of the rear engine through the additional lifting force to obtain the induced rolling moment of the rear engine;
the second analysis module is used for carrying out rolling moment coefficient analysis on the induced rolling moment to obtain a rolling moment coefficient corresponding to the rear engine;
the dividing module is used for dividing the dangerous areas of the rear engine through the rolling moment coefficient to obtain a plurality of corresponding dangerous areas;
and the third analysis module is used for respectively analyzing wake interval data of each dangerous area to obtain wake interval data corresponding to each dangerous area.
In the technical scheme provided by the invention, under the condition of static wind, a preset organic machine is taken as a front machine, the front machine is calibrated for a central point to obtain the front machine central point, and the front machine central point is taken as a datum point to construct a wake vortex rectangular coordinate system; calculating the induction speed of the front engine through a wake vortex rectangular coordinate system to obtain a vertical induction speed; taking a preset unmanned plane as a rear engine, and carrying out additional lift force calculation on the rear engine based on the vertical induction speed to obtain additional lift force of the rear engine; analyzing the induced rolling moment of the rear engine through the additional lifting force to obtain the induced rolling moment of the rear engine; performing rolling moment coefficient analysis on the induced rolling moment to obtain a rolling moment coefficient corresponding to the rear engine; the method comprises the steps that dangerous areas of a rear engine are divided through a rolling moment coefficient, and a plurality of corresponding dangerous areas are obtained; and respectively analyzing wake interval data of each dangerous area to obtain wake interval data corresponding to each dangerous area. In the scheme, the civil aircraft is used as a front aircraft, the unmanned aerial vehicle is used as a rear aircraft, the induced rolling moment coefficient is used as a measurement index, the grade of the rear aircraft encountering wake vortex danger is divided, and tolerance analysis is carried out on the three directions of the transverse direction, the longitudinal direction and the vertical direction. Finally, wake flow interval is adjusted, and airspace utilization rate is improved. The method further provides theoretical basis and actual operation reference for unmanned aerial vehicle safety evaluation research of airspace fusion wake vortex fields, and makes up the defect that no interval analysis is performed on the unmanned aerial vehicle in wake interval analysis at present.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a wake interval determining method based on hybrid operation of a unmanned aerial vehicle and an organic vehicle in an embodiment of the invention.
Fig. 2 is a flowchart of dangerous area division of a rear engine by a roll moment coefficient in an embodiment of the present invention.
Fig. 3 is a schematic diagram of a wake interval determining system based on hybrid operation of a unmanned aerial vehicle and an organic vehicle in an embodiment of the invention.
Reference numerals:
301. constructing a module; 302. a first computing module; 303. a second computing module; 304. a first analysis module; 305. a second analysis module; 306. dividing the module; 307. and a third analysis module.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
For convenience of understanding, a specific flow of the embodiment of the present invention is described below, referring to fig. 1, fig. 1 is a flowchart of a wake interval determining method based on hybrid operation of a unmanned aerial vehicle and an unmanned aerial vehicle according to the embodiment of the present invention, as shown in fig. 1, including the following steps:
s101, under the condition of static wind, a preset man-machine is used as a front machine, a central point of the front machine is calibrated, a front machine central point is obtained, and a wake vortex rectangular coordinate system is constructed by using the front machine central point as a reference point;
s102, calculating the induction speed of the front engine through a wake vortex rectangular coordinate system to obtain a vertical induction speed;
s103, taking the preset unmanned aerial vehicle as a rear engine, and carrying out additional lift force calculation on the rear engine based on the vertical induction speed to obtain additional lift force of the rear engine;
s104, analyzing the induced rolling moment of the rear engine through the additional lifting force to obtain the induced rolling moment of the rear engine;
s105, performing rolling moment coefficient analysis on the induced rolling moment to obtain a rolling moment coefficient corresponding to the rear engine;
s106, dividing dangerous areas of the rear engine through the rolling moment coefficient to obtain a plurality of corresponding dangerous areas;
s107, performing wake interval data analysis on each dangerous area to obtain wake interval data corresponding to each dangerous area.
The method is characterized in that based on the model parameters of the human-machine and standard atmospheric data, the calculated aerodynamic response induced rolling moment coefficient value of the rear-machine after encountering wake flow is used for dividing the dangerous area of the rear-machine through the rolling moment coefficient to obtain a plurality of corresponding dangerous areas, and the induced rolling moment coefficient R is less than 0.028, and the dangerous grade is 1 grade; r is more than 0.028 and less than or equal to 0.044, and the dangerous grade is grade 2; the R >0.044 hazard class is class 3. All of the risk levels 2 and above are defined as the risk area.
It should be noted that, when wake interval data analysis is performed on each dangerous area to obtain wake interval data corresponding to each dangerous area, further analysis is performed through tolerance, where the reason for generating tolerance is that both the unmanned aerial vehicle and the unmanned aerial vehicle deviate from a given course in an actual flight process. The specified tolerance of each direction is a position range which allows the presence of a man or unmanned aerial vehicle, and in order to ensure the flight safety, dangerous areas are divided according to the maximum rolling moment coefficient R of the area at any position within the tolerance range.
The division mode according to the tolerance dangerous area is as follows:
longitudinal hazard zone: in order to facilitate calculation, in the process of dissipating wake vortexes along with time, the range of the roll moment coefficient R of the man-machine flying direction is more than or equal to 0.028 and is a range of a longitudinal dangerous area.
Lateral hazard zone: the span length of some unmanned aerial vehicles and unmanned aerial vehicle models is very different. When the two aircrafts have no deviation or small deviation in space position, a part of safety zone exists near the fuselage part at the front wingspan; and expanding the total lateral tolerance until the total lateral tolerance is close to the situation that the safety zone of the fuselage part disappears, and calculating the width of the dangerous zone as the range of the lateral dangerous zone.
Vertical dangerous area: along with dissipation and sinking movement of wake vortexes, longitudinal tolerance in the vertical direction is considered, and a range of rolling moment coefficient R more than or equal to 0.028 in a descending path is calculated as a range of a dangerous area in the vertical direction. And finally obtaining wake flow interval data corresponding to each dangerous area. In the embodiment of the application, the range of the dangerous area in the longitudinal, lateral and vertical directions is determined by considering the position tolerance of the unmanned aerial vehicle and the unmanned aerial vehicle; based on the dangerous area range of each direction, the longitudinal, lateral and vertical direction interval ranges are calculated respectively, and the three-direction wake flow intervals of different types of organic and unmanned aerial vehicles are calculated after the typical common civil airliners are finally selected.
By executing the steps, under the static wind condition, a preset organic machine is taken as a front machine, the front machine is calibrated for a central point to obtain the front machine central point, and the front machine central point is taken as a reference point to construct a wake vortex rectangular coordinate system; calculating the induction speed of the front engine through a wake vortex rectangular coordinate system to obtain a vertical induction speed; taking a preset unmanned plane as a rear engine, and carrying out additional lift force calculation on the rear engine based on the vertical induction speed to obtain additional lift force of the rear engine; analyzing the induced rolling moment of the rear engine through the additional lifting force to obtain the induced rolling moment of the rear engine; performing rolling moment coefficient analysis on the induced rolling moment to obtain a rolling moment coefficient corresponding to the rear engine; the method comprises the steps that dangerous areas of a rear engine are divided through a rolling moment coefficient, and a plurality of corresponding dangerous areas are obtained; and respectively analyzing wake interval data of each dangerous area to obtain wake interval data corresponding to each dangerous area. In the scheme, the civil aircraft is used as a front aircraft, the unmanned aerial vehicle is used as a rear aircraft, the induced rolling moment coefficient is used as a measurement index, the grade of the rear aircraft encountering wake vortex danger is divided, and tolerance analysis is carried out on the three directions of the transverse direction, the longitudinal direction and the vertical direction. Finally, wake flow interval is adjusted, and airspace utilization rate is improved. The method further provides theoretical basis and actual operation reference for unmanned aerial vehicle safety evaluation research of airspace fusion wake vortex fields, and makes up the defect that no interval analysis is performed on the unmanned aerial vehicle in wake interval analysis at present.
In a specific embodiment, the process of executing step S101 may specifically include the following steps:
(1) Under the condition of static wind, using an organic machine as a front machine, and calibrating a central point of the front machine to obtain the central point of the front machine;
(2) Calibrating the flying speed direction of the front engine to obtain the corresponding flying speed direction of the front engine;
(3) Performing spanwise calibration on the front engine to obtain a spanwise direction corresponding to the front engine;
(4) Taking the center point of the front aircraft as the origin of coordinates and taking the direction of the flying speed as the direction of the flying speedDirection, in spanwise direction +>Direction of +.>And constructing a wake vortex rectangular coordinate system in the direction.
In one embodiment, the expression of the vertical induction rate is as follows:
；
wherein,for vertical induction speed, +.>The left vortex generated for the front engine acts on the vertical induction speed of the rear engine,vertical induction speed of right vortex generated for front machine acting on rear machine, < >>The circular quantity data of the left vortex; />The circular quantity data of the right vortex; />Vortex nuclear coordinates of left vortex generated for front engine, +.>For the vortex core coordinates of the right vortex generated by the front engine,for the coordinates of any point in the vortex generated in the front engine +.>Is the radius of the vortex core.
In a specific embodiment, the step of performing additional lift calculation on the rear aircraft based on the vertical induction speed by taking the preset unmanned aerial vehicle as the rear aircraft to obtain additional lift of the rear aircraft includes:
(1) Taking the unmanned plane as a rear engine, and carrying out additional lift force calculation on the rear engine through a vertical induction speed based on a preset additional lift force calculation formula to obtain additional lift force of the rear engine, wherein the additional lift force calculation formula is as follows:
；
wherein,for additional lift of the rear engine->Is infinity air density->For incoming flow speed, +.>For the lift line slope of the rear engine +.>Fixing chord length for wing of rear engine +.>Is the wingspan data of the rear engine.
In a specific embodiment, the step of performing the induced rolling moment analysis on the rear engine by the additional lift force to obtain the induced rolling moment of the rear engine includes:
(1) Based on a preset induced rolling moment calculation formula, carrying out induced rolling moment analysis on the rear engine through additional lifting force to obtain the induced rolling moment of the rear engine, wherein the induced rolling moment calculation formula is as follows:
；
wherein,to induce a roll moment.
In a specific embodiment, the step of performing a roll moment coefficient analysis on the induced roll moment to obtain a roll moment coefficient corresponding to the rear engine includes:
(1) And carrying out rolling moment coefficient analysis on the induced rolling moment through a preset rolling moment coefficient calculation formula to obtain a rolling moment coefficient corresponding to the rear engine, wherein the rolling moment coefficient calculation formula is as follows:
；
wherein,for the roll moment coefficient, +.>Wing area of the rear engine.
In a specific embodiment, as shown in fig. 2, the process of executing step S106 may specifically include the following steps:
s201, performing range calibration on the rolling moment coefficient to obtain corresponding coefficient range data;
s202, dangerous areas of the rear engine are divided through coefficient range data, and a plurality of dangerous areas are obtained.
It should be noted that, the rolling moment coefficient carries on the range calibration, get the correspondent coefficient range data, and then according to R < 0.028 dangerous grade is 1 grade; r is more than 0.028 and less than or equal to 0.044, and the dangerous grade is grade 2; the R >0.044 hazard class is class 3. All of the risk levels 2 and above are defined as the risk area.
Further, the post-engine is subjected to dangerous area division through coefficient range data to obtain a plurality of dangerous areas, and the method specifically comprises the following steps:
longitudinal hazard zone: in the process of dissipating wake vortexes along with time, the range of the roll moment coefficient R of the man-machine flying direction is more than or equal to 0.028 and is a range of a longitudinal dangerous area.
Lateral hazard zone: the span length of some unmanned aerial vehicles and unmanned aerial vehicle models is very different. When the two aircrafts have no deviation or small deviation in space position, a part of safety zone exists near the fuselage part at the front wingspan; and expanding the total lateral tolerance until the total lateral tolerance is close to the situation that the safety zone of the fuselage part disappears, and calculating the width of the dangerous zone as the range of the lateral dangerous zone.
Vertical dangerous area: along with the dissipation and sinking movement of wake vortexes, the tolerance in the vertical direction is set to be 20m, and the range of the vertical sinking height in the range of R being more than or equal to 0.028 in the descending path is calculated to be the range of the dangerous area in the vertical direction.
Longitudinal spacing: along with wake vortex dissipation, the rolling moment coefficient R of the rear engine gradually decreases to be just in the range of a safety zone, and the flying distance of the front engine is the minimum longitudinal interval at the moment;
lateral spacing: half the width of the hazard zone is the lateral minimum spacing.
Vertical direction interval: after the vertical tolerance analysis, when the rolling moment coefficient R is less than 0.028, the sinking height of the wake vortex is the minimum vertical interval.
Finally, according to the model parameters of different types of the organic machines, the method for calculating the interval needed to be maintained in three directions comprises the following steps:
a: based on the current RECAT-CN wake aircraft classification standard, the aircraft types are classified into 5 types of super heavy type (J), heavy type (B), general heavy type (C), medium type (M) and light type (L) according to the maximum take-off weight and the extension length of the aircraft. Because the probability of occurrence of the class L airplane in the domestic busy airport and the airspace is extremely low, the class L airplane is not considered in subsequent calculation, and the class A380, the class B744, the class B762 and the class F50 are selected as the four classes representing airplanes.
b: for a typical airplane model, different civil airplane models and unmanned aerial vehicles are selected to be combined in pairs, and according to model parameters and meteorological parameters, the total lateral tolerance of the unmanned aerial vehicle and the unmanned aerial vehicle is taken into consideration, and a dangerous area part is drawn.
Longitudinal spacing: along with wake vortex dissipation, the rolling moment coefficient R of the rear engine gradually decreases to be just in the range of a safety zone, and the flying distance of the front engine is the minimum longitudinal interval at the moment;
lateral spacing: half the width of the hazard zone is the lateral minimum spacing.
Vertical direction interval: after the vertical tolerance analysis, the vertical dangerous area sweep height is the minimum vertical interval when the rolling moment coefficient R is less than 0.028.
Specifically, the interval determination method for calculating three directions to be maintained is as follows: and selecting A380, B744, B762 and F50 as the combination of the representative aircraft and the unmanned aerial vehicle of the four types, and calculating the minimum wake intervals of different types of wake in the longitudinal direction, the lateral direction and the vertical direction by comparing the wake of different types of aircraft with the safety interval of the unmanned aerial vehicle.
The embodiment of the invention also provides a wake interval determining system based on the hybrid operation of the unmanned aerial vehicle and the organic machine, as shown in fig. 3, the wake interval determining system based on the hybrid operation of the unmanned aerial vehicle and the organic machine specifically comprises:
the construction module 301 is configured to perform center point calibration on a front engine with a preset organic machine as the front engine under a static wind condition to obtain a front engine center point, and construct a wake vortex rectangular coordinate system with the front engine center point as a reference point;
the first calculation module 302 is configured to calculate the induction speed of the front engine according to the wake vortex rectangular coordinate system, so as to obtain a vertical induction speed;
the second calculation module 303 is configured to perform additional lift calculation on the rear aircraft based on the vertical induction speed by using a preset unmanned aerial vehicle as the rear aircraft, so as to obtain additional lift of the rear aircraft;
the first analysis module 304 is configured to analyze the induced rolling moment of the rear engine through the additional lifting force, so as to obtain the induced rolling moment of the rear engine;
the second analysis module 305 is configured to perform a rolling moment coefficient analysis on the induced rolling moment, so as to obtain a rolling moment coefficient corresponding to the rear engine;
the dividing module 306 is configured to divide the dangerous areas of the rear engine according to the rolling moment coefficient, so as to obtain a plurality of corresponding dangerous areas;
and a third analysis module 307, configured to perform wake interval data analysis on each dangerous area, to obtain wake interval data corresponding to each dangerous area.
Through the cooperative work of the modules, under the condition of static wind, a preset organic machine is used as a front machine, the front machine is calibrated for a central point to obtain a front machine central point, and the front machine central point is used as a reference point to construct a wake vortex rectangular coordinate system; calculating the induction speed of the front engine through a wake vortex rectangular coordinate system to obtain a vertical induction speed; taking a preset unmanned plane as a rear engine, and carrying out additional lift force calculation on the rear engine based on the vertical induction speed to obtain additional lift force of the rear engine; analyzing the induced rolling moment of the rear engine through the additional lifting force to obtain the induced rolling moment of the rear engine; performing rolling moment coefficient analysis on the induced rolling moment to obtain a rolling moment coefficient corresponding to the rear engine; the method comprises the steps that dangerous areas of a rear engine are divided through a rolling moment coefficient, and a plurality of corresponding dangerous areas are obtained; and respectively analyzing wake interval data of each dangerous area to obtain wake interval data corresponding to each dangerous area. In the scheme, the civil aircraft is used as a front aircraft, the unmanned aerial vehicle is used as a rear aircraft, the induced rolling moment coefficient is used as a measurement index, the grade of the rear aircraft encountering wake vortex danger is divided, and tolerance analysis is carried out on the three directions of the transverse direction, the longitudinal direction and the vertical direction. Finally, wake flow interval is adjusted, and airspace utilization rate is improved. The method further provides theoretical basis and actual operation reference for unmanned aerial vehicle safety evaluation research of airspace fusion wake vortex fields, and makes up the defect that no interval analysis is performed on the unmanned aerial vehicle in wake interval analysis at present.
The above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the scope of the claims.
Claims (2)
1. The wake interval determining method based on the mixed operation of the unmanned aerial vehicle and the organic vehicle is characterized by comprising the following steps of:
under the condition of static wind, a preset man-machine is taken as a front machine, the front machine is calibrated with a central point to obtain a front machine central point, and the front machine central point is taken as a datum point to construct a wake vortex rectangular coordinate system, which specifically comprises: under the condition of static wind, the man-machine is taken as a front machine, and the front machine is calibrated with a central point to obtain the front machine central point; calibrating the flying speed direction of the front engine to obtain the flying speed direction corresponding to the front engine; performing spanwise calibration on the front engine to obtain a spanwise direction corresponding to the front engine; taking the front aircraft central point as a coordinate origin and the flying speed direction as a coordinate originDirection, in the wingspan direction +.>Direction of the object perpendicular to the direction of the flying speed>Constructing the wake vortex rectangular coordinate system in the direction;
and calculating the induction speed of the front engine through the wake vortex rectangular coordinate system to obtain a vertical induction speed, wherein the expression of the vertical induction speed is as follows:
；
wherein,for vertical induction speed, +.>The vertical induction speed of the left vortex generated for the front engine acts on the rear engine,vertical induction speed of right vortex generated for the front engine acting on the rear engine, +.>Annular quantity data for the left vortex; />The circular quantity data of the right vortex is obtained; />For the vortex nuclear coordinates of the left vortex produced by the front engine, < >>For the vortex nuclear coordinates of the right vortex generated by the front engine, < >>For the coordinates of any point in the vortex generated by the front engine +.>Is the radius of the vortex core;
taking a preset unmanned plane as a rear engine, and carrying out additional lift force calculation on the rear engine based on the vertical induction speed to obtain the additional lift force of the rear engine, wherein the method specifically comprises the following steps of: and taking the unmanned aerial vehicle as a rear engine, and carrying out additional lift force calculation on the rear engine through the vertical induction speed based on a preset additional lift force calculation formula to obtain additional lift force of the rear engine, wherein the additional lift force calculation formula is as follows:
；
wherein,for the additional lift of the rear engine +.>Is infinity air density->For incoming flow speed, +.>For the lift line slope of the rear engine, < >>Fixing the chord length for the wing of the rear engine, < >>Span data for the aft machine;
and analyzing the induced rolling moment of the rear engine through the additional lifting force to obtain the induced rolling moment of the rear engine, wherein the method specifically comprises the following steps of: and carrying out induced rolling moment analysis on the rear engine through the additional lifting force based on a preset induced rolling moment calculation formula to obtain the induced rolling moment of the rear engine, wherein the induced rolling moment calculation formula is as follows:
；
wherein,to induce a roll moment;
and analyzing the rolling moment coefficient of the induced rolling moment to obtain the rolling moment coefficient corresponding to the rear engine, wherein the rolling moment coefficient comprises the following specific steps of: and carrying out rolling moment coefficient analysis on the induced rolling moment through a preset rolling moment coefficient calculation formula to obtain a rolling moment coefficient corresponding to the rear engine, wherein the rolling moment coefficient calculation formula is as follows:
；
wherein,for the roll moment coefficient, +.>The wing area of the rear engine;
the rear engine is subjected to dangerous area division through the rolling moment coefficient, so that a plurality of corresponding dangerous areas are obtained;
and respectively analyzing wake interval data of each dangerous area to obtain wake interval data corresponding to each dangerous area, wherein the wake interval data comprises the following specific steps: performing range calibration on the rolling moment coefficient to obtain corresponding coefficient range data; dividing dangerous areas of the rear engine through the coefficient range data to obtain a plurality of dangerous areas, wherein the calculated aerodynamic response induced rolling moment coefficient value of the rear engine after encountering wake flow is based on the organic machine type parameters and standard atmospheric data, and the dangerous areas of the rear engine are divided through the rolling moment coefficient to obtain a plurality of corresponding dangerous areas, and the induced rolling moment coefficient R is less than 0.028, and the dangerous grade is 1 grade; r is more than 0.028 and less than or equal to 0.044, and the dangerous grade is grade 2; r >0.044 hazard class is class 3; all the dangerous levels above level 2 are defined as dangerous areas, wherein when wake interval data corresponding to each dangerous area are obtained by respectively analyzing wake interval data of each dangerous area, further analysis is carried out through tolerance,
the division mode according to the tolerance dangerous area is as follows:
longitudinal hazard zone: in the process of dissipating wake vortexes along with time, the range of the roll moment coefficient R of the man-machine flying direction is more than or equal to 0.028 and is a longitudinal dangerous area range;
lateral hazard zone: expanding the total lateral tolerance until the total lateral tolerance is close to the disappearance of the safety zone of the fuselage part, and calculating the width of the dangerous zone as the range of the lateral dangerous zone;
vertical dangerous area: along with dissipation and sinking movement of wake vortexes, longitudinal tolerance in the vertical direction is considered, a range of rolling moment coefficient R more than or equal to 0.028 in a descending path is calculated to be a range of dangerous areas in the vertical direction, and wake interval data corresponding to each dangerous area are finally obtained.
2. A wake interval determining system based on hybrid operation of a drone and an organic machine for performing the wake interval determining method based on hybrid operation of a drone and an organic machine as claimed in claim 1, comprising:
the construction module is used for calibrating a central point of a front engine by taking a preset organic machine as the front engine under the static wind condition to obtain the central point of the front engine, and constructing a wake vortex rectangular coordinate system by taking the central point of the front engine as a datum point, and specifically comprises the following steps: under the condition of static wind, the man-machine is used as a front machine, and the front machine is calibrated with a central point to obtainTo the front-end processor center point; calibrating the flying speed direction of the front engine to obtain the flying speed direction corresponding to the front engine; performing spanwise calibration on the front engine to obtain a spanwise direction corresponding to the front engine; taking the front aircraft central point as a coordinate origin and the flying speed direction as a coordinate originDirection, in the wingspan direction +.>Direction of the object perpendicular to the direction of the flying speed>Constructing the wake vortex rectangular coordinate system in the direction;
the first calculation module is used for calculating the induction speed of the front engine through the wake vortex rectangular coordinate system to obtain a vertical induction speed, wherein the expression of the vertical induction speed is as follows:
；
wherein,for vertical induction speed, +.>The vertical induction speed of the left vortex generated for the front engine acts on the rear engine,vertical induction speed of right vortex generated for the front engine acting on the rear engine, +.>Annular quantity data for the left vortex; />The circular quantity data of the right vortex is obtained; />For the vortex nuclear coordinates of the left vortex produced by the front engine, < >>For the vortex nuclear coordinates of the right vortex generated by the front engine, < >>For the coordinates of any point in the vortex generated by the front engine +.>Is the radius of the vortex core;
the second calculation module is configured to use a preset unmanned aerial vehicle as a rear engine, perform additional lift calculation on the rear engine based on the vertical induction speed, and obtain additional lift of the rear engine, and specifically includes: and taking the unmanned aerial vehicle as a rear engine, and carrying out additional lift force calculation on the rear engine through the vertical induction speed based on a preset additional lift force calculation formula to obtain additional lift force of the rear engine, wherein the additional lift force calculation formula is as follows:
；
wherein,for the additional lift of the rear engine +.>Is infinity air density->For incoming flow speed, +.>For the lift line slope of the rear engine, < >>Fixing the chord length for the wing of the rear engine, < >>Span data for the aft machine;
the first analysis module is configured to analyze the induced rolling moment of the rear engine through the additional lifting force, and obtain the induced rolling moment of the rear engine, and specifically includes: and carrying out induced rolling moment analysis on the rear engine through the additional lifting force based on a preset induced rolling moment calculation formula to obtain the induced rolling moment of the rear engine, wherein the induced rolling moment calculation formula is as follows:
；
wherein,to induce a roll moment;
the second analysis module is used for carrying out rolling moment coefficient analysis on the induced rolling moment to obtain the rolling moment coefficient corresponding to the rear engine, and specifically comprises the following steps: and carrying out rolling moment coefficient analysis on the induced rolling moment through a preset rolling moment coefficient calculation formula to obtain a rolling moment coefficient corresponding to the rear engine, wherein the rolling moment coefficient calculation formula is as follows:
；
wherein,for the roll moment coefficient, +.>The wing area of the rear engine;
the dividing module is used for dividing the dangerous areas of the rear engine through the rolling moment coefficient to obtain a plurality of corresponding dangerous areas;
the third analysis module is configured to perform wake interval data analysis on each dangerous area to obtain wake interval data corresponding to each dangerous area, and specifically includes: performing range calibration on the rolling moment coefficient to obtain corresponding coefficient range data; dividing dangerous areas of the rear engine through the coefficient range data to obtain a plurality of dangerous areas, wherein the calculated aerodynamic response induced rolling moment coefficient value of the rear engine after encountering wake flow is based on the organic machine type parameters and standard atmospheric data, and the dangerous areas of the rear engine are divided through the rolling moment coefficient to obtain a plurality of corresponding dangerous areas, and the induced rolling moment coefficient R is less than 0.028, and the dangerous grade is 1 grade; r is more than 0.028 and less than or equal to 0.044, and the dangerous grade is grade 2; r >0.044 hazard class is class 3; all the dangerous levels above level 2 are defined as dangerous areas, wherein when wake interval data corresponding to each dangerous area are obtained by respectively analyzing wake interval data of each dangerous area, further analysis is carried out through tolerance,
the division mode according to the tolerance dangerous area is as follows:
longitudinal hazard zone: in the process of dissipating wake vortexes along with time, the range of the roll moment coefficient R of the man-machine flying direction is more than or equal to 0.028 and is a longitudinal dangerous area range;
lateral hazard zone: expanding the total lateral tolerance until the total lateral tolerance is close to the disappearance of the safety zone of the fuselage part, and calculating the width of the dangerous zone as the range of the lateral dangerous zone;
vertical dangerous area: along with dissipation and sinking movement of wake vortexes, longitudinal tolerance in the vertical direction is considered, a range of rolling moment coefficient R more than or equal to 0.028 in a descending path is calculated to be a range of dangerous areas in the vertical direction, and wake interval data corresponding to each dangerous area are finally obtained.
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