摘要
近年来，直升机以其独特的性能和机动能力在军用和民用方面有着其它机种不可替代的重要作用，特别是最近，我国已开放低空空域允许私人直升机飞行，因此，对直升机飞行员进行日常飞行训练就变得更加迫切。另一方面，随着虚拟现实技术的发展，飞行模拟器以其安全、节能、经济和高逼真度等优势，已经成为飞行员训练和飞机研发过程中不可缺少的仿真试验设备，本文根据实际科研项目的需要，对直升机模拟器的关键技术问题进行了深入系统的研究，并取得了如下创新性成果。
(1)针对仿真应用，建立了直升机飞行的旋翼空气动力学模型。直升机的旋翼桨叶绕桨毂转动时，同时绕水平铰作挥舞运动，此时求旋翼升力将变得十分复杂棘手，并且，国内外鲜有文献对旋翼升力的迭代计算流程进行探讨，本文在对旋翼的空气动力学进行分析时，分别利用动量法和叶素法推导出悬停、垂直上升和下降时旋翼升力的求解公式，并推导出一般飞行状态和垂直起降状态的自然挥舞运动方程；当考虑桨叶的挥舞运动时，利用叶素法分析了叶素力，提出了一种求旋翼对机身产生的升力、侧向力及后向力的八占位法。利用动量-叶素法，推导了理想扭转和线性扭转型桨叶的旋翼升力计算式，给出了此两种叶型针对仿真应用的旋翼升力的迭代计算流程。
(2)建立了可同时适用于飞行与着陆仿真的机身动力学模型。在现有的直升机模拟器动力学模型中，多在飞行和着陆时分别采取两个不同的动力学模块，这使得模拟器很难准确反映出直升机着陆或离地瞬间的动态特性。本文在前述直升机飞行的空气动力学模型基础上，将机轮简化为带有粘性阻尼的三维线性弹簧，选取含有耗散函数的拉格朗日方程进行建模，以微小时段下机身的微小位移和转角为广义坐标，建立了集飞行与着陆为一体的六自由度机身动力学模型；基于四阶龙格库塔法，给出了机身位置和姿态角的具体计算流程。
(3)结合新搭建的直升机飞行模拟器实验台，编制了直升机动力学仿真与视景仿真软件。利用MultiGen Creator软件建立了地形和直升机的三维视景模型；采用HLA技术框架作为数据通信模块，实现了飞行仿真系统与视景仿真系统之间的数据传输，利用HLA技术中的时间推进机制，有效地解决了视景仿真画面的迟滞性问题；根据传过来的直升机位姿参数，利用视景驱动软件OpenGVS在VC++6.0平台上完成了直升机的实时驱动。从仿真画面上看，系统的跟随性较好，满足了直升机模拟器在视景仿真方面的实时性和逼真度要求。在搭建的直升机模拟器实验平台上对前文提出的旋翼空气动力学理论进行了仿真和验证，通过与实际飞行数据对比，验证了本文提出的空气动力学模型和机身动力学模型的正确性和实用性。最后，在此实验平台上对直升机的典型飞行及着陆动作进行了仿真。
论文还做了如下工作：(1)对机身所受的其它气动力进行了建模。详细探讨了旋翼对机身的反扭矩和陀螺力矩、尾桨对机身的气动力，以及悬停和垂直起降时周围空气对机身的气动阻力。(2)制定了模拟器的整体规划方案，同时对视景仿真系统中的视景显示子系统进行了设计。根据模拟器的设计要求，对模拟器进行了整体规划，在确定了视景显示系统的方案后，对球幕投影系统进行了设计。
In recent years, the helicopter has achieved an irreplaceable role due to its uniqueperformance and mobility in military and civil fields. Our government, especially, hasalready opened airspace at low altitudes allowing private helicopters to fly. So,training helicopter pilots becomes more urgent. On the other hand, with thedevelopment of virtual reality technologies, flight simulator has already become anindispensable emulation test equipment for pilot training and aircraft-developmentowing to its safety, energy saving, low cost and high fidelity advantages. To meet theneed of practical research project, this paper has made a deep and systematicalresearch on the key technology of helicopter simulator and some innovativecontributions are enumerated as follows.
(1)Aiming at simulation application, the main rotor aerodynamic model of thehelicopter flight has been set up. When the main rotor blade of the helicopter rotatesabout the hub, it also flaps around the level hinge. In this case, the calculation of mainrotor thrust will become quite complex. In addition, few literatures at home andabroad discussed iterative computation process of main rotor thrust. When theaerodynamic force acting on main rotor is analysed in this paper, the formulas tocalculate main rotor thrust in hovering, vertical climb and descent are deduced usingmomentum theory and blade element theory. Futhermore, blade natural-flap motionequations are derived in the general flight state and in the vertical climb and descentstate. When considering flapping motion of blades, the force on the blade element isanalysed and eight-site-occupancy method is put forward to calculate upward force,lateral force and backward force on the airframe from main rotor using blade elementtheory. And then, main rotor thrusts from ideal-twist and linear-twist blades areworked out based on Blade Element Momentum(BEM) theory. Iterative computationprocesses of main rotor thrust produced by the two different blade profiles areproposed, which are applied to simulation application.
(2)Dynamics model of airframe which applied to both flight and landingsimulation has been established. In the existing dynamics models of helicoptersimulator, two different dynamics modules were adopted separately when flight andlanding, which made it difficult for simulator to accurately reflect the dynamic natureof helicopter at landing and liftoff moment. On base of the aforementionedaerodynamic model of helicopter flight, each tyre is regarded as a suspension, whichconsists of three-dimensional linear springs and viscous dampings in this paper. The Lagrange equation including dissipation function has been chosen as our modelingfoundation. Treating micro displacements and rotating angles of airframe in minutetime interval as generalized coordinates, we have given6-DOF dynamics equation ofairframe which involved flight as well as landing. Based on the fourth-orderRunge-Kutta method, concrete compute process about airframe position and attitudeangle was put forward.
(3)Combined with the newly constructed experiment platform of helicoptersimulator, the dynamic and visual simulation software of the helicopter has beendeveloped. Via Software Multigen Creator,3D visual models of terrain and thehelicopter were established. Adopting technical framework HLA as datacommunication module, we have effectively realized data transfer between flightsimulation subsystem and visual simulation subsystem. Using time advancemechanism from HLA, this paper has effectively prevented the retardance of visualsimulation scene. According to position and orientation parameters of the helicopterand using view drive software OpenGVS, real-time drive of the helicopter has beenrealized on platform VC++6.0. Simulation scene showed this system had excellentfollowing performance and it could meet the requirement of real-time andverisimilitude in the respect of visual simulation for helicopter simulator.Aerodynamic theories of main rotor outlined above have been simulated and verifiedon the experimental platform of helicopter flight simulator. The simulation results andactual flight data have been compared to verify the correctness and practicality ofaerodynamic model and airframe dynamics model presented in this paper. Finally, thetypical flight and landing behaviours of the helicopter have been simulated on thisexperiment platform.
The other works of this paper are summarized as follows:(1)The otheraerodynamic forces on the airframe have been modeled. The antitorque andgyroscoopic torque arisen by main rotor, aerodynamic force deriving from tail rotor,aerodynamic drag from the surrounding air on the airframe in the hovering state,vertical climb and descent state have been discussed in detail.(2)The whole planningscheme of simulator has been formulated and scene display subsystem as a part ofvisual simulation system has been designed. According to the design requirements ofsimulator, the overall planning of simulator was given. After the scheme of visualdisplay subsystem was determined, the ball-screen projection system was designed.
引文
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