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针对双旋弹飞行动力学建模,提出了基于Kane方法建立树形多刚体系统动力学方程的方法。分析了双旋弹后体和前体的运动,并分别建立了其动力学方程,综合得到了双旋弹的七自由度飞行动力学方程。基于四元数转换,建立了双旋弹转动运动学方程。通过编程对双旋弹的无控和有控运动特性进行了仿真分析。结果表明,双旋弹无控时以小迎角稳定飞行;有控飞行时弹体产生配平迎角,且纵向和横向修正会出现交叉耦合。
Aiming at the kinetic modeling of double-helical-flight flight, a method based on Kane’s method to establish the dynamic equation of multi-rigid-body system is proposed. The kinematics of the projectile and the precursor of the double-cone projectile are analyzed. The dynamics equations of the projectile and the projectile are established, and the seven-degree-of-freedom flight dynamics equation of the double-helical projectile is obtained synthetically. Based on the quaternion transformation, the kinematics equation of duro-spin is established. Through programming, the uncontrolled and controlled motion characteristics of the double-blaster are simulated and analyzed. The results show that the double-helical projectile can fly steadily with a small angle of attack when it is out of control. The projectile has a collisional angle-of-attack in a controlled flight and crossover coupling occurs in the longitudinal and lateral corrections.