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Control-oriented modeling of a high-aspect-ratio flying wing with coupled flight dynamics

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Chinese Journal of Aeronautics 2023年第4期36卷 409-422页

作者： Cong NIU Xiutian YAN Boyi CHEN Department of Design Manufacturing&Engineering ManagementUniversity of StrathclydeGlasgow G11XQUK College of Astronautics Nanjing University of Aeronautics and AstronauticsNanjing 210016China

The flight-structural dynamics of a high-aspect-ratio wing challenge the flight control design.This paper develops a reduced model of coupled dynamics with stability consideration.The structural dynamics are formulated with dihedrals,and the central loads drive the deformation.The control-oriented model with essential coupled dynamics is formulated.Modal sensitivity anal-ysis and input–output pairing are performed to identify the control structure.Besides,an example of flight control design is provided to discuss the necessity of considering structural dynamics in controller design.Analytical coupled flight dynamics provide a system-theoretic approach for sta-bility and facilitate model-based control techniques.Simulation results reveal the characteristics of flight-structural coupled dynamics and demonstrate that the influence of flexible modes should be considered in control design,especially in lateral dynamics.

关键词： Flexible couplings Flexible wings flight control systems flight dynamics Sensitivity analysis

Model of Airflow Field on the Deck for Shipborne Helicopter flight dynamics Analysis

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Transactions of Nanjing University of Aeronautics and Astronautics 2017年第5期34卷 567-577页

作者： Hu Guocai Xu Guang Wang Yunliang Liu Shuyan Department of Airborne Vehicle Engineering Naval Aeronautical and Astronautical University Yantai 264001 P.R. China Troops 92074 PLA Ningbo 315000 P. R. China

For the research of helicopter/ship dynamic interface,the method of combining steady flow and stochastic flow is adopted to establish a flow field model applied to the flight dynamics analysis of shipborne helicopter.The steady flow is calculated by computational fluid dynamics(CFD)method,while the stochastic flow is composed of the compensation velocity derived from ship motion and turbulence above the deck.The accuracy of the proposed flow field model is verified by comparing the helicopter response in the proposed flow field with the results calculated by US Army′s Military Specifications(MIL)model which is commonly used in engineering.Meanwhile,it also shows the proposed flow field model is more appliable to flight dynamics analysis of shipborne helicopter.On that the basis,ship deck flow field is simulated at different sea conditions by adjusting the wind speed on the deck,mother ship movement and shipboard turbulence,etc.And helicopter angular rate response is calculated.The results show that the difference of dynamic stability between helicopter′s roll and pitch leads to the facts that the influence of above factors on the helicopter′s roll angular rate response is greater than that of pitch angular rate,that the frequency and amplitude of mother ship roll motion are much greater than those of pitch motion,and that the disturbance caused by roll motion on the air has greater influence on the helicopter response.The shipboard turbulence is the main disturbance factor that influences helicopter flight stability and its intensity determines the amplitudes of angular rate response.

关键词： shipborne helicopter flight dynamics airflow field on the deck time-space characteristics sea condition

Robust bounded control for uncertain flight dynamics using disturbance observer

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Journal of Systems Engineering and Electronics 2014年第4期25卷 640-647页

作者： Mou Chen Bin Jiang College of Automation Engineering Nanjing University of Aeronautics and Astronautics

The robust bounded flight control scheme is developed for the uncertain longitudinal flight dynamics of the fighter with control input saturation invoking the backstepping technique. To enhance the disturbance rejection ability of the robust flight control for fighters, the sliding mode disturbance observer is designed to estimate the compounded disturbance including the unknown external disturbance and the effect of the control input saturation. Based on the backstepping technique and the compounded disturbance estimated output, the robust bounded flight control scheme is proposed for the fighter with the unknown external disturbance and the control input saturation. The closed-loop system stability under the developed robust bounded flight control scheme is rigorously proved using the Lyapunov method and the uniformly asymptotical convergences of all closed-loop signals are guaranteed. Finally, simulation results are presented to show the effectiveness of the proposed robust bounded flight control scheme for the uncertain longitudinal flight dynamics of the fighter.

关键词： flight dynamics bounded control robust control backstepping control disturbance observer.

Stage separation of recoverable liquid launch vehicle by using moving pulsating ball analogue for propellant sloshing

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Chinese Journal of Aeronautics 2024年第2期37卷 360-370页

作者： Yu LU Baozeng YUE Bailong HAO Bole MA Feng LIU Yuanyuan CHANG School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China Beijing Institute of Astronautical Systems Engineering Beijing 100076China

In the process of stage separation of recoverable liquid launch vehicles,because of the large amount of residual fuel in the storage tanks,the influence of liquid sloshing on separation safety must be considered.Considering calculation simplicity and operation practicability,the Moving Pulsating Ball Model(MPBM)of large amplitude liquid sloshing is introduced into the calculation of launch vehicle stage separation.Combining the dynamic equation of the model with the energy relationship during"breathing movement",the formula calculating the force of liquid on the rigid body is derived.Compared with the calculations of commercial CFD calculation software,the accuracy of MPBM model is verified.Then,all the external forces and moments are applied to the rigid body of the stages,so that the translational and rotational dynamic equations of the stages are obtained respectively.According to the relative position of the two stages,the geometric shape of the interstage section and the engine of the second stage,the minimum clearance in the separation process can be decided to guarantee that the separation process is safe.

关键词： Moving Pulsating Ball Model(MPBM) dynamics of stage separation Large amplitude sloshing Recoverable liquid launch vehicle flight dynamics

A review of control strategies used for morphing aircraft applications

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Chinese Journal of Aeronautics 2024年第4期37卷 436-463页

作者： Muhammed S.PARANCHEERIVILAKKATHIL Jafar S.PILAKKADAN Rafic M.AJAJ Mohammadreza AMOOZGAR Davood ASADI Yahya ZWEIRI Michael I.FRISWELL Department of Aerospace Engineering Khalifa University of Science and TechnologyAbu DhabiUnited Arab Emirates Department of Aerospace Engineering Advanced Research and Innovation Center(ARIC)Khalifa University of Science and TechnologyAbu DhabiUnited Arab Emirates Department of Mechanical Materials&Manufacturing EngineeringUniversity of NottinghamNottingham NG72RDUK Department of Aerospace Engineering Adana Alparslan Turkes Science and Technology UniversityTurkey College of Engineering Swansea UniversitySwansea SA18ENUK

This paper reviews the various control algorithms and strategies used for fixed-wing morphing aircraft applications. It is evident from the literature that the development of control algorithms for morphing aircraft technologies focused on three main areas. The first area is related to precise control of the shape of morphing concepts for various flight conditions. The second area is mainly related to the flight dynamics, stability, and control aspects of morphing aircraft. The third area deals mainly with aeroelastic control using morphing concepts either for load alleviation purposes and/or to control the instability boundaries. The design of controllers for morphing aircraft/wings is very challenging due to the large changes that can occur in the structural, aerodynamic, and inertial characteristics. In addition, the type of actuation system and actuation rate/speed can have a significant effect on the design of such controllers. The aerospace community is in strong need of such a critical review especially as morphing aircraft technologies move from fundamental research at a low Technology Readiness Level(TRL) to real-life applications. This critical review aims to identify research gaps and propose future directions. In this paper, research activities/papers are categorized according to the control strategy used. This ranges from simple Proportional Integral Derivative(PID) controllers at one end to complex robust adaptive controllers and deep learning algorithms at the other end. This includes analytical, computational, and experimental studies. In addition, the various dynamic models used and their fidelities are highlighted and discussed.

关键词： Control strategies Morphing aircraft Shape morphing flight dynamics Aeroelasticity

dynamics,stability,and control of a four-cable mount system for wind tunnel test

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Chinese Journal of Aeronautics 2023年第2期36卷 58-75页

作者： Zhenjun ZHAO Zhanwei ZHAO Yu YAN Kaichun ZENG Xiaojun SHI Han WU School of Mechanical and Materials Engineering North China University of TechnologyBeijing 100144China High Speed Aerodynamics Institute China Aerodynamics Research and Development CenterMianyang 621000China

A four-cable mount system is proposed for full-model wind tunnel flutter tests,which may adjust the pitch and roll attitude of the aircraft scaled model and ensure that the model is not subjected to cable tension.The system provides sufficient support to simulate the free flight of the aircraft by applying appropriate spring stiffness and cable tensions.The proposed fourcable mount system is modeled based on Lagrange mechanics,and its dynamics equations consider aerodynamic effects.The singularity of the system and its bifurcation characteristics under flow conditions are analysed to determine the supercritical bifurcation phenomenon for different tension levels and distances from the front suspension point to the mass centre of the model.The mathematical expressions of the longitudinal flight stability of the cable mount system are derived by linearising the system dynamics equations using small perturbations.The influence of the cable tension,spring stiffness,suspension point position,and other factors on the flight stability of the aircraft are analysed.A feedforward control algorithm is proposed to minimize the total elastic potential energy of the system.The results show that the model is in the level flight state when the elastic potential energy of the four-cable mount system is minimized.A feedback control design method is proposed based on the Lyapunov stability theory to derive the closed-loop stability conditions.The system dynamics model that includes the aircraft rigid body model,flexible cables,pulleys,springs,aerodynamic model,and servo motor control is established using the flexible multibody dynamics method.A multibody dynamics solver and Simulink are used to simulate the attitude adjustment of the model in the wind tunnel and verify the supercritical bifurcation characteristics of the system and the effectiveness of the feedback and feedforward control.

关键词： Bifurcation Cable flight dynamics Flutter Nonlinear control systems Wind tunnels

Longitudinal flight Dynamic Analysis on Vertical Takeoff of a Tailless Flapping-Wing Micro Air Vehicle

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Journal of Bionic Engineering 2018年第2期15卷 283-297页

作者： Loan Thi Kim Au Vu Hoang Phan Hoon Cheol Park Department of Advanced Technology Fusion and Artificial Muscle Research Center Konkuk University Seou105029 Korea

This paper first analyzed the longitudinal dynamic behavior during vertical takeoff without control of a Flapping-Wing Micro Air Vehicle （FW-MAV）. The standard linear flight dynamics based on small disturbances from trim condition was not applicable for our analysis because the initial flight condition, which was at rest on the ground, could be such a large disturbance from the trim condition that the linearization is invalid. Therefore, we derived linearized Equations of Motion （EoM） which can treat an untrimmed flight condition as a reference for disturbances. The Computational Fluid Dynamic （CFD） software ANSYS Fluent was used to compute the aerodynamic forces and pitching moments. Three flight modes were found： a fast subsidence mode, a slow subsidence mode and a divergence oscil- latory mode. Due to divergence oscillatory mode, the deviation from the reference flight grew with time; the FW-MAV tumbled without control. The simulation showed for the first 0.5 second after leaving the ground （the time that is long enough for delay of feedback control）, the FW-MAV flew up to a height of 6 cm with small horizontal and pitching motion, which is close to a vertical flight.

关键词： bioinspired FW-MAV flight dynamics vertical takeoff CFD linear theory

Parachute dynamics and perturbation analysis of precision airdrop system

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Chinese Journal of Aeronautics 2016年第3期29卷 596-607页

作者： Gao Xinglong Zhang Qingbin Tang Qiangang College of Aerospace Science and Engineering National University of Defense TechnologyChangsha 410073China

To analyze the parachute dynamics and stability characteristics of precision airdrop system, the fluid-structure interaction （FSI） dynamics coupling with the flight trajectory of a para- chute payload system is comprehensively predicted by numerical methods. The inflation behavior of a disk-gap-band parachute is specifically investigated using the arbitrary Lagrangian Euler （ALE） penalty coupling method. With the available aerodynamic data obtained from the FSI sim- ulation, a nine-degree-of-freedom （9DOF） dynamic model of a parachute-payload system is built and solved to simulate the descent trajectory of the multi-body dynamic system. Finally, a linear five-degree-of-freedom （5DOF） dynamic model is developed, the perturbation characteristics and the motion laws of the parachute and payload under a wind gust are analyzed by the linearization method and verified by a comparison with flight test data. The results of airdrop test demonstrate that our method can be further applied to the guidance and control of precision airdrop systems.

关键词： Airdrop system flight dynamics Fluid structure interaction Parachute Perturbation analysis

Towards real-time pilot-in-the-loop CFD simulations of helicopter/ship dynamic interface

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International Journal of Modeling, Simulation, and Scientific Computing 2017年第4期8卷 64-88页

作者： Ilker Oruc Joseph F.Horn Jeremy Shipman Susan Polsky Department of Aerospace Engineering The Pennsylvania State University University Park PA 16802USA CRAFT Tech PipersvillePA 18947USA NAVAIR Paxutent RiverMD 20670USA

This study presents the development of computationally efficient coupling of Navier–Stokes Computational Fluid dynamics(CFD)with a helicopter flight dynamics model with the ultimate goal of real-time simulation of airwake effects in the helicopter/ship Dynamic Interface(DI).The flight dynamics model is free to move within a computational domain,where the main rotor forces are converted to source terms in the momentum equations of the CFD solution using an actuator disk model.Simultaneously,the CFD solver calculates induced velocities that are fed back to the simulation and affect the aerodynamic loads in the flight dynamics.The CFD solver models the inflow,ground effect and interactional aerodynamics in the flight dynamics simulation,and these calculations can be coupled with the solution of the external flow(e.g.,ship airwake effects).The simulation framework for fully-coupled pilot-in-the-loop(PIL)flight dynamics/CFD is demonstrated for a simplified shedding wake.Initial tests were performed with 0.38 million structured grid cells running on 352 processors and showed near-real-time performance.Improvements to the coupling interface are described that allow the simulation run at near-real-time execution speeds on currently available computing platforms.Improvements in computing hardware are expected to allow real-time simulations.

关键词： Real-time pilot-in-the-loop computational fluid dynamics(CFD) flight dynamics simulation ship airwake dynamic interface helicopter flight dynamics simulation fully-coupled helicopter/ship