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对多直升机协调吊挂系统中每一架直升机与外吊挂载荷分别建立他们的飞行动力学模型,将弹性吊索视为弹簧阻尼系统,建立弹性吊索数学模型;然后通过弹性吊索动力学将多直升机与吊挂载荷的运动耦合到一起,建立了通用的多直升机协调吊挂系统仿真模型;最后,针对单、四直升机协调吊挂系统建立了仿真验证模型,对直升机协调吊挂系统的稳定性、配平特性进行了分析.仿真结果表明外挂载荷对直升机的稳定性和配平特性产生了较大影响,通过分析证明了仿真结果的合理性,同时证明本文提出的多直升机协调吊挂系统飞行动力学建模方法的可行性.
For each helicopter in the multi-helicopter coordination and suspension system, the flight dynamics models are established for each helicopter and the outer suspension loads. The elastic suspension cables are regarded as the spring damping system, and the mathematical model of the elastic suspension cables is established. Then, The multi-helicopter and the suspension load movement are coupled together to establish a common multi-helicopter coordination and suspension system simulation model. Finally, the simulation verification model is established for the coordinated helicopter suspension system and the helicopter coordination suspension system Stability and trim characteristics are analyzed.The simulation results show that the external load has a great impact on the stability and trim properties of the helicopter, the rationality of the simulation results is proved by analysis, and the proposed multi-helicopter coordinated suspension system flight Feasibility of Kinetic Modeling Method.