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高空长航时太阳能无人机采用大展弦比柔性机翼,在飞行中存在大幅度静态和动态变形,变形体现出几何非线性特征。为了对其进行分析,采用基于Hamilton原理的Hodges本征梁动力学方程,对高空太阳能无人机的柔性机翼建立了分布式非线性的动力学模型。采用空间离散、时域积分的方法,对高空太阳能无人机的飞行动态和非线性变形情况进行了仿真分析。结果显示,加入俯仰控制后,可能出现无人机姿态与机翼扭转变形的不利耦合,影响了无人机的控制特性,该效应与传感器分布位置有关。通过合理的设计控制律和布置传感器,可以减弱机翼扭转带来的不利影响,保证无人机的航迹姿态及气动弹性特性稳定。
The high-altitude long-haul solar unmanned aerial vehicle uses a large aspect ratio flexible wing, there is a substantial static and dynamic deformation in flight, the deformation reflects the geometric nonlinear characteristics. In order to analyze it, a distributed non-linear dynamic model is established for the flexible wing of a high-altitude solar UAV based on the Hodges intrinsic beam dynamics equation based on the Hamilton principle. Using the method of spatial discretization and time domain integration, the flight dynamics and nonlinear deformation of the high altitude solar UAV are simulated and analyzed. The results show that after adding the pitch control, there may be an adverse coupling between the attitude of the drone and the torsional deformation of the wing, which affects the control characteristics of the UAV. The effect is related to the distribution of the sensors. Reasonable design of the control law and the deployment of sensors can reduce the adverse effects of wing torsion, and ensure that the UAV’s track attitude and aeroelastic stability.