CN118068862A - Goods air drop design method for superimposed flight attitude - Google Patents
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Abstract
The invention belongs to the technical field of cargo airdrop, and provides a cargo airdrop design method with superimposed flight gestures, which comprises the steps of firstly calculating equivalent gravity acceleration of cargo under the influence of aircraft flight stateAnd calculating the acceleration of the goods sliding on the sliding railSpeed and velocity ofSliding distanceThen calculating equivalent gravitational acceleration of the connection point of the cargo and the aircraft relative to the aircraftAnd calculates the rotational angular acceleration of the goods air dropAngular velocity ofRotation angleFurther calculate the maximum height of the tilting of the goodsFinally, calculating the mass, mass center and rotational inertia of the whole machine in the goods delivery process, and according to the sliding distanceMaximum height of tilting of goodsAnd the mass, mass center and rotational inertia of the whole cargo in the cargo delivery process are used for judging the time when the current cargo is separated from the cargo body and controlling the unlocking time of the next cargo. The method is used for evaluating the safety of the air drop of the goods, evaluating the flight quality, improving the flight safety and being beneficial to rapidly evaluating the feasibility of the air drop task.
Description
Technical Field
The invention belongs to the technical field of cargo airdrop, and particularly provides a cargo airdrop design method with superimposed flight postures.
Background
In the process of completing the air drop of goods by utilizing gravity, the self posture of the aircraft has influence on the position, the sliding speed and the air drop time of the goods, so that the establishment of an accurate and effective drop method for the air drop of the goods, which is overlapped with the flight state and the flight posture of the aircraft, is necessary, can provide theoretical basis for evaluating the safety and the reliability of the air drop, and provides powerful support for the air drop of the transport aircraft.
The existing modeling method for the air cargo of the fixed wing mainly has the following defects: firstly, the air drop model only considers the speed and the angular speed of the aircraft, and does not consider the attitude change condition when the aircraft has acceleration and angular acceleration; and secondly, the influence of the speed and the acceleration of the aircraft is calculated only in the cargo sliding stage, and once the cargo starts to rotate in the air drop mode, the acceleration and the speed of the cargo are not influenced by the change of the attitude of the aircraft.
Disclosure of Invention
The invention aims to provide a cargo air drop design method for superposing flight gestures, which can superpose the three-dimensional acceleration and angular acceleration influences of an aircraft in the sliding process and the air drop rotation process, and can simulate and calculate the effects of cargo drop time, rolling angle, overturning height and cargo cabin-out movement on mass center and rotational inertia of an aircraft body by giving a drop time sequence.
In order to achieve the above purpose, the invention adopts the following technical scheme:
A cargo air drop design method for superposition flight gestures comprises the following steps:
step 1, establishing a cargo equivalent gravity model under the influence of the aircraft flight state, and calculating the equivalent gravity acceleration of the cargo under the influence of the aircraft flight state ；
Step2, establishing a sliding model on the sliding rail according to the equivalent gravity accelerationCalculating the acceleration/>, of the sliding of the goods on the sliding railSpeed/>Sliding distance/>；
Step 3, establishing an air drop rotation model, and calculating equivalent gravity acceleration of a connection point of the goods and the airplane relative to the airplane；
Step4, establishing a rotation angle calculation model according to the equivalent gravity accelerationCalculating the sliding rotation angular acceleration/>, of goodsAngular velocity/>Rotation angle/>；
Step 5, building a cargo tilting height calculation model, and according to the size of the cargo box and the rotating angle of the cargo sliding and rotatingCalculating the maximum height of the tilting of the goods/>；
Step 6, establishing a full-machine mass, mass center and moment of inertia calculation model, and calculating the full-machine mass, mass center and moment of inertia in the goods delivery process;
Step 7, establishing a throwing time sequence control model according to the sliding distance Maximum height of cargo warp/>And the mass, mass center and rotational inertia of the whole cargo in the cargo delivery process are used for judging the time when the current cargo is separated from the cargo body and controlling the unlocking time of the next cargo.
Further, in step 1, equivalent gravitational accelerationExpressed as:
，
wherein, Representing gravitational acceleration,/>Representing translational acceleration of an aircraft,/>Representing the drag acceleration of an aircraft relative to the ground shafting,/>Representing the coriolis acceleration between the drag and relative motions as the aircraft rotates relative to the ground axis.
Further, in step 2, accelerationExpressed as:
，
wherein, And/>Representing equivalent gravitational acceleration/>Sliding direction component and normal component,/>Representing the coefficient of friction;
Sliding speed Distance from sliding/>Expressed as:
，
，
where t represents a time variable.
Further, in step 3, equivalent gravitational accelerationExpressed as:
，
wherein, Representing equivalent gravitational acceleration/>Conversion value from body axis to cargo axis,/>For the dragging acceleration of the cargo shafting relative to the aircraft,/>Is the coriolis acceleration between the cargo shafting and the aircraft.
Further, in step 4, the cargo downshifting rotational accelerationAngular velocity/>Rotation angle/>Expressed as:
，/>，/>，
wherein, Representing equivalent gravitational acceleration/>Supporting force acceleration of aircraft on goods projected in direction perpendicular to sliding direction,/>Representing moment of inertia of goods,/>And t represents a time variable for the sliding distance of the mass center of the goods after the air drop rotation starts.
Further, in step 5, the maximum height of the lifted goodsExpressed as:
，
wherein, For the length of the container,/>For the height of the container,/>Is the sliding distance of the mass center of the goods after the air drop rotation starts.
Further, the step 6 specifically includes:
Firstly, calculating the mass in the rotation process of goods ：
，
Wherein,Representing the quality of goods,/>Representing the acceleration of gravity during the sliding of the cargo,/>The supporting force acceleration is the supporting force acceleration in the cargo rotation process;
then calculate the cargo centroid position ：
，/>，/>，
Wherein,、/>、/>Sequentially representing the position quantity of the center of mass of the cargo in the sliding direction, the transverse direction and the normal direction of the airplane,/>、/>、/>Sequentially representing initial position quantities of the mass center of the cargo in the sliding direction, the transverse direction and the normal direction of the airplane; /(I)For the height of the container,/>The sliding distance of the mass center of the goods after the air drop rotation starts;
And calculating to obtain the rotational inertia of the goods according to the mass and the mass center position of the goods, introducing the mass, the mass center and the rotational inertia of the air conditioner, and calculating to obtain the mass, the mass center and the rotational inertia of the whole machine in the goods delivery process.
Further, in step 7, the put-in timing control model includes the following control decisions:
Firstly, judging that the current goods are separated from the machine body: when any one of the following conditions is met, judging that the current goods are separated from the machine body, wherein the judging conditions are as follows:
1) Equivalent gravitational acceleration of a connection point of cargo and aircraft relative to an aircraft static system The component in the normal direction is 0,
2) Sliding distance of goods along sliding railThe sum of the length of the sliding rail and the length of half of the goods is more than or equal to;
Then, carrying out current cargo safety judgment: judging whether interference occurs in the current cargo delivery process according to the maximum lifting height of the cargo and the height of the air-drop cargo bin gate, and suspending unlocking of the next cargo when interference occurs;
Finally, judging unlocking moments of a plurality of cargoes: and monitoring whether the mass, mass center and rotational inertia of the whole cargo box exceed a safety threshold in the cargo box throwing process, and unlocking the next cargo when the mass, mass center and rotational inertia of the whole cargo box are within the safety threshold.
In summary, the invention provides a cargo air drop design method for superposing flight gestures, which is used for evaluating the safety of cargo air drops and has the following advantages:
1) Compared with the existing method, the simulation result accuracy of the invention is obviously improved;
2) The invention can simulate the influence of the real-time flight state and attitude of the aircraft on the air drop of the goods, including the initial attitude angle, the flight speed, the angular speed, the flight acceleration, the angular acceleration and the like of the aircraft;
3) According to the invention, the influence of the sliding of the goods on the sliding rail on the centroid position of the airplane can be calculated, the influence of the throwing rotation of the goods on the centroid and the quality of the airplane can be calculated, the flight quality can be evaluated, and the flight safety can be improved;
4) According to the invention, for the air drop of a plurality of continuous cargoes, the unlocking time can be optimized through calculation, the optimal interval of gravity center change is controlled, and the flight safety is improved;
5) The invention can simulate the trip rolling angle and trip height when large goods are thrown out of the cabin, avoid the influence of the goods to the safety of the aircraft, and is beneficial to rapidly evaluating the feasibility of the air-drop task.
Drawings
Fig. 1 is a schematic flow chart of a cargo aerial delivery simulation method with superimposed flight attitudes.
Fig. 2 is a schematic view showing the projection of equivalent gravitational acceleration of cargo in the sliding direction and normal direction in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantageous effects of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples.
The embodiment discloses a goods air drop design method of stack flight gesture divides the motion process after the goods is from the unblock into sliding motion (before the goods barycenter slides the goods bridge terminal point) and air drop rotary motion (rotation and sliding motion after the goods barycenter slides the goods bridge terminal point) on the slide rail, includes: according to the attitude and unlocking time of the aircraft, the stress and the movement of the goods to be air dropped sliding along the direction of the sliding rail on the aircraft are obtained; calculating the stress and the movement of the goods in the throwing rotation process according to the acceleration of the goods on the plane along the sliding direction, the size, the mass center and the rotational inertia of the goods; judging whether the goods are overturned and separated from the machine or not; calculating the overturning angle and overturning height of the goods in the throwing and rotating process; and superposing the mass centroid and the moment of inertia of the air machine, and calculating the change of the mass, the centroid and the moment of inertia of the whole machine in the throwing process. The cargo air drop calculation method is accurate, and flight safety in aircraft drop tasks is improved.
The cargo air drop design method is shown in fig. 1, and specifically comprises the following steps:
step 1, establishing a cargo equivalent gravity model under the influence of the aircraft flight state, and calculating the equivalent gravity acceleration of the cargo under the influence of the aircraft flight state;
The method is characterized in that a machine body shafting is defined as a rear upper right part, a ground shafting is defined as a static system, a machine body coordinate system is a dynamic system, goods to be air dropped are dynamic points, and according to the absolute acceleration synthesis theorem of the dynamic points in the static system, when the dynamic system has translation and rotation, the absolute acceleration of the goods in the ground shafting is expressed as follows:
，
wherein, the real-time motion and gesture of the airplane are introduced:
absolute acceleration of the cargo in the ground shafting;
the translational acceleration of the plane is equal to the translational acceleration of the plane when the plane translates;
relative acceleration of the cargo relative to the aircraft;
The traction acceleration of the airplane (dynamic system) relative to the ground shafting (static system) is expressed as follows:
，
And/> Angular acceleration and angular velocity of aircraft in static system,/>, respectivelyTo draw the sagittal diameter of the point relative to the aircraft centroid (bringing in the relative sliding displacement of the cargo relative to the aircraft centroid in this embodiment)/>Relative sliding velocity of cargo relative to the aircraft centroid;
the method is a Ke type acceleration, and concretely represents that the Ke type acceleration which has a mutual influence between the dragging motion and the relative motion when the dynamic system rotates relative to the static system, and the expression is as follows:
，
The sliding speed of goods on the aircraft;
Relative acceleration The remainder is/>Namely, the cargo acceleration when the relative acceleration does not exist between the cargo and the aircraft; analyzing the stress of the goods in the ground shafting at the moment, including: the gravity of the cargo itself and the relative force of the aircraft to the cargo yields the following expression:
，
wherein, For the load bearing of goods on the ground shafting,/>For the relative effort of aircraft on cargo,/>Is the gravity of the goods per se,/>Is the cargo quality;
Two sides of the expression are divided by the cargo mass simultaneously Simplifying and obtaining:
，
wherein, Representing gravitational acceleration;
Definition: The equivalent gravity acceleration of the goods in the ground shafting is as follows: the goods are subjected to the relative acting force of the aircraft and the equivalent gravity, and no relative acceleration (kept relatively stationary or relatively uniform motion) exists between the goods and the aircraft;
Step 2, establishing a sliding model on the sliding rail, and calculating the acceleration and the speed of the sliding of the goods on the sliding rail;
calculating the relative motion of the cargo and the aircraft according to the equivalent gravity acceleration of the cargo in the ground shafting, and enabling the equivalent gravity acceleration to be equal to the equivalent gravity acceleration Projected as sliding direction component/>, respectivelyAnd normal component/>As shown in FIG. 2,/>Is the pitch angle of the aircraft;
Introducing frictional force coefficient Calculating acceleration of goods in the sliding direction in the ground shafting：
，
After the goods are self-unlockedFor initial sliding acceleration forward slide,/>Integrating the time once to obtain the sliding speed/>, of the goods along the sliding railIntegrating the time twice to obtain the sliding distance/>, of the goods along the sliding rail：
，
，
When the sliding distance of the goods is equal to the length of the airplane sliding rail, the goods are considered to start to rotate and put, the sliding time can be calculated, and the acceleration when the goods reach the tail end of the goods bridge can be calculated through the sliding timeAnd speed/>Namely, the acceleration and the speed of the goods at the beginning of the air drop rotation are obtained;
step 3, establishing an air drop rotation model, and calculating equivalent gravity acceleration of a connection point of the goods and the airplane relative to the airplane;
After the center of mass of the goods slides across the tail edge of the goods bridge, the goods starts to rotate, the connection point of the goods and the aircraft is taken as a moving point, the goods shafting is taken as a moving system, the aircraft is taken as a static system, and the absolute acceleration of the connection point of the goods and the aircraft in the engine shafting is established ：
，
Wherein,Is translational acceleration of dynamic system,/>Relative acceleration of moving point,/>For the dragging acceleration of the cargo shafting relative to the aircraft,/>The coriolis acceleration is generated between the dynamic system and the static system due to relative rotation;
The dynamic system and the static system are adhered without relative translational motion, so The equivalent gravitational acceleration of cargo under the influence of aircraft attitude is known as/>Equivalent gravitational acceleration of the moving point with respect to the aircraft/>The expression is as follows:
，
wherein, Is equivalent gravity acceleration/>, of goodsA conversion value from the body axis to the cargo axis;
step 4, establishing a rotation angle calculation model to calculate the goods sliding rotation angle acceleration Angular velocity/>Rotation angle/>；
Due to the existence of the sliding rail, the default cargo does not have relative motion in the rolling and yaw directions, and only the relative change of a pitch angle exists between the cargo and the aircraft;
Equivalent gravitational acceleration of a connection point of cargo and aircraft Projection in the direction perpendicular to the sliding direction to obtain the supporting force acceleration/>, of the aircraft, on the cargoAccording to the supporting force acceleration/>, of the aircraft to the goodsCalculating the sliding rotation angular acceleration/>, of goodsAnd then integrating to calculate the angular velocity/>Rotation angle/>：
，
，
，
Wherein,Representing moment of inertia of goods,/>For the sliding distance of the mass center of the goods after the air drop rotation starts, the calculation method comprises the following steps: /(I)Component in sliding direction/>The difference from the frictional acceleration versus rotational time/>The integration was twice and the expression was as follows:
，
Step 5, building a goods tilting height calculation model, and calculating the maximum height of the goods tilting;
one side of the load is tilted when rotating, and the maximum height of the tilt when rotating is estimated by using the following rotation height calculation expression:
，
wherein, For the maximum height of the tilting of the goods, judging whether the throwing process is interfered or not by combining the height of the air throwing warehouse door; /(I)For the length of the container,/>Is the height of the container;
Step 6, establishing a calculation model of the mass, the mass center and the moment of inertia of the whole aircraft, and calculating the time-dependent changes of the mass, the mass center and the moment of inertia of the whole aircraft in the whole air drop process;
The quality of the goods is constant in the process of sliding the goods on the sliding rail; in the air drop rotation process, the mass center of the goods slowly leaves the cabin body of the airplane, so that the mass of the goods falling on the airplane also changes along with time, and the changing mass can be measured by the supporting force of the goods; the gravity of the cargo and the normal supporting force are linked together by adopting the following method, so as to solve the change of gravity and mass:
，
wherein, And/>For gravitational acceleration and supporting force acceleration during cargo sliding,/>And/>The gravity acceleration and the supporting force acceleration are generated in the cargo rotation process;
Thus, the mass during rotation of the container is expressed as:
，
wherein, Is the mass of the container,/>The mass of the cargo box left on the aircraft during rotation;
The initial position of the mass center before the goods are not put in and unlocked is in the sliding direction, the airplane is transversely and vertically up ，/>，) Default lateral position/>, when the container is moved along the skidUnchanged, i.e./>；
Cargo centroid sliding direction position: in sliding displacementThe coordinates of the sliding initial position in the sliding direction are superimposed on the basis of (1), namely the sliding direction position/>, of the goods：
，
Cargo centroid normal direction position: The initial position of the center of mass on the normal direction of the cargo is added with the height of the center of mass of the cargo from the cargo bottom plate, namely the normal direction position of the cargo:
，
The mass and the position of the goods in the process of releasing the goods are obtained, the position of the goods changes along with the time of releasing and unlocking, and the moment of inertia of the container is calculated according to the mass and the position of the container; on the basis, introducing the mass, the mass center and the moment of inertia of the air machine, and calculating to obtain the change of the mass, the mass center and the moment of inertia of the whole machine along with time in the goods delivery process;
Step 7, a throwing time sequence control model is established to judge the departure time of cargoes and further guide the unlocking time when a plurality of containers are thrown;
According to the step 6, the change of the mass, the mass center and the moment of inertia of the whole aircraft along with time in the whole air drop process can be calculated, and the significance of further building a drop time sequence control model is that when an example of continuously dropping a plurality of containers exists, the initial positions of the containers are generally arranged according to the allowable range of the mass center of the whole aircraft, once the container is unlocked and dropped, the mass and the mass center of the containers can influence the mass and the mass center of the whole aircraft, and if the time sequence is not controlled, the containers can slide to the tail end of a cargo bridge together so that the mass center of the whole aircraft exceeds the allowable range;
Therefore, the establishment of the throwing time sequence control model can be used for judging the departure time of cargoes, monitoring the influence of the cargo position on the whole mass, mass center and moment of inertia of the cargo, and guiding throwing of a plurality of containers;
The put timing control model comprises the following control decisions:
Firstly, judging that the current goods are separated from the machine body: when any one of the following conditions is met, judging that the current goods are separated from the machine body, wherein the judging conditions are as follows:
1) Equivalent gravitational acceleration of a connection point of cargo and aircraft relative to an aircraft static system The component in the normal direction is 0,
2) Sliding distance of goods along sliding railThe sum of the length of the sliding rail and the length of half of the goods is more than or equal to;
Then, carrying out current cargo safety judgment: judging whether interference occurs in the current cargo delivery process according to the maximum lifting height of the cargo and the height of the air-drop cargo bin gate, and suspending unlocking of the next cargo when interference occurs;
Finally, judging unlocking moments of a plurality of cargoes: and monitoring whether the mass, mass center and rotational inertia of the whole cargo box exceed a safety threshold in the cargo box throwing process, and unlocking the next cargo when the mass, mass center and rotational inertia of the whole cargo box are within the safety threshold.
While the invention has been described in terms of specific embodiments, any feature disclosed in this specification may be replaced by alternative features serving the equivalent or similar purpose, unless expressly stated otherwise; all of the features disclosed, or all of the steps in a method or process, except for mutually exclusive features and/or steps, may be combined in any manner.
Claims (8)
1. The cargo air drop design method for the superimposed flight attitude is characterized by comprising the following steps of:
step 1, establishing a cargo equivalent gravity model under the influence of the aircraft flight state, and calculating the equivalent gravity acceleration of the cargo under the influence of the aircraft flight state ；
Step2, establishing a sliding model on the sliding rail according to the equivalent gravity accelerationCalculating the acceleration/>, of the sliding of the goods on the sliding railSpeed/>Sliding distance/>；
Step 3, establishing an air drop rotation model, and calculating equivalent gravity acceleration of a connection point of the goods and the airplane relative to the airplane；
Step4, establishing a rotation angle calculation model according to the equivalent gravity accelerationCalculating the angular acceleration of the sliding rotation of the goodsAngular velocity/>Rotation angle/>；
Step 5, building a cargo tilting height calculation model, and according to the size of the cargo box and the rotating angle of the cargo sliding and rotatingCalculating the maximum height of the tilting of the goods/>；
Step 6, establishing a full-machine mass, mass center and moment of inertia calculation model, and calculating the full-machine mass, mass center and moment of inertia in the goods delivery process;
Step 7, establishing a throwing time sequence control model according to the sliding distance Maximum height of cargo warp/>And the mass, mass center and rotational inertia of the whole cargo in the cargo delivery process are used for judging the time when the current cargo is separated from the cargo body and controlling the unlocking time of the next cargo.
2. The method for designing a cargo air drop with superimposed flight attitude according to claim 1, wherein in step 1, equivalent gravitational acceleration is achievedExpressed as:
，
wherein, Representing gravitational acceleration,/>Representing translational acceleration of an aircraft,/>Representing the drag acceleration of an aircraft relative to the ground shafting,/>Representing the coriolis acceleration between the drag and relative motions as the aircraft rotates relative to the ground axis.
3. The method for designing a cargo air drop with superimposed flight attitude according to claim 1, wherein in step 2, the acceleration is calculatedExpressed as:
，
wherein, And/>Representing equivalent gravitational acceleration/>Sliding direction component and normal component,/>Representing the coefficient of friction;
Sliding speed Distance from sliding/>Expressed as:
，
，
where t represents a time variable.
4. The method for designing a cargo air drop with superimposed flight attitude according to claim 1, wherein in step3, equivalent gravitational acceleration is achievedExpressed as:
，
wherein, Representing equivalent gravitational acceleration/>Conversion value from body axis to cargo axis,/>For the dragging acceleration of the cargo shafting relative to the aircraft,/>Is the coriolis acceleration between the cargo shafting and the aircraft.
5. The method for designing a cargo air drop with superimposed flight attitude according to claim 1, wherein in step 4, the cargo is slid down and rotated with angular accelerationAngular velocity/>Rotation angle/>Expressed as:
，/>，/>，
wherein, Representing equivalent gravitational acceleration/>Supporting force acceleration of aircraft on goods projected in direction perpendicular to sliding direction,/>Representing moment of inertia of goods,/>And t represents a time variable for the sliding distance of the mass center of the goods after the air drop rotation starts.
6. The method for designing a cargo air drop with superimposed flight attitude according to claim 1, wherein in step 5, the cargo is tilted to a maximum heightExpressed as:
，
wherein, For the length of the container,/>For the height of the container,/>Is the sliding distance of the mass center of the goods after the air drop rotation starts.
7. The method for designing the air drop of the goods with the superimposed flight attitude according to claim 1, wherein the step 6 is specifically:
Firstly, calculating the mass in the rotation process of goods ：
，
Wherein,Representing the quality of goods,/>Representing the acceleration of gravity during the sliding of the cargo,/>The supporting force acceleration is the supporting force acceleration in the cargo rotation process;
then calculate the cargo centroid position ：
，/>，/>，
Wherein,、/>、/>Sequentially representing the position quantity of the center of mass of the cargo in the sliding direction, the transverse direction and the normal direction of the airplane,/>、/>、/>Sequentially representing initial position quantities of the mass center of the cargo in the sliding direction, the transverse direction and the normal direction of the airplane; /(I)For the height of the container,/>The sliding distance of the mass center of the goods after the air drop rotation starts;
And calculating to obtain the rotational inertia of the goods according to the mass and the mass center position of the goods, introducing the mass, the mass center and the rotational inertia of the air conditioner, and calculating to obtain the mass, the mass center and the rotational inertia of the whole machine in the goods delivery process.
8. The method for designing an air drop of cargo with superimposed flight attitude according to claim 1, wherein in step 7, the drop timing control model includes the following control decisions:
Firstly, judging that the current goods are separated from the machine body: when any one of the following conditions is met, judging that the current goods are separated from the machine body, wherein the judging conditions are as follows:
1) Equivalent gravitational acceleration of a connection point of cargo and aircraft relative to an aircraft static system The component in the normal direction is 0,
2) Sliding distance of goods along sliding railThe sum of the length of the sliding rail and the length of half of the goods is more than or equal to;
Then, carrying out current cargo safety judgment: judging whether interference occurs in the current cargo delivery process according to the maximum lifting height of the cargo and the height of the air-drop cargo bin gate, and suspending unlocking of the next cargo when interference occurs;
Finally, judging unlocking moments of a plurality of cargoes: and monitoring whether the mass, mass center and rotational inertia of the whole cargo box exceed a safety threshold in the cargo box throwing process, and unlocking the next cargo when the mass, mass center and rotational inertia of the whole cargo box are within the safety threshold.
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