Dynamic modeling of helicopter-flexible rope-slung load system based on Kane's method

WAN Shao-feng; CAO Yi-hua; HUANG Lei

doi:10.13224/j.cnki.jasp.2016.04.021

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Dynamic modeling of helicopter-flexible rope-slung load system based on Kane's method

更新时间：2026-07-07

- Dynamic modeling of helicopter-flexible rope-slung load system based on Kane's method
- Vol. 31, Issue 4, Pages: 934-940(2016)
- 作者机构：
  
  1. 北京航空航天大学航空科学与工程学院,北京,100191
  2. 中国船舶重工集团公司第710研究所研发部,湖北,宜昌,443003
  3. 中国航空工业集团公司中国直升机设计研究所总体室,江西,景德镇,333001
- 作者简介：
- 基金信息：
- DOI：10.13224/j.cnki.jasp.2016.04.021
  CLC：
- Published：2016
- 稿件说明：
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万绍峰, 曹义华, 黄磊. 基于Kane方法的直升机-柔性绳索-吊挂系统动力学建模[J]. 航空动力学报, 2016, 31(4): 934-940.

doi: 10.13224/j.cnki.jasp.2016.04.021
万绍峰, 曹义华, 黄磊. 基于Kane方法的直升机-柔性绳索-吊挂系统动力学建模[J]. 航空动力学报, 2016, 31(4): 934-940. DOI： 10.13224/j.cnki.jasp.2016.04.021.

doi: 10.13224/j.cnki.jasp.2016.04.021 DOI：

摘要

完成了基于Kane方法的直升机-柔性绳索-吊挂系统的动力学建模.通过运动学描述

将系统分为直升机本体、吊挂绳索和吊挂载荷三部分.直升机本体为六自由度刚体;吊挂绳索模拟为集中质点模型

质点间用弹簧连接;吊挂载荷模拟为三自由度质点.考虑重力、气动力和弹性力的影响

建立直升机-吊挂系统的Kane动力学方程.针对直升机本体和考虑吊挂绳索柔性的直升机-柔性绳索-吊挂系统这两种模型

计算了它们在不同前飞速度下的配平状态

分析了其运动模态并进行对比.仿真结果表明:外吊挂引入后

直升机需要额外的总距操纵;考虑吊挂绳索柔性后

直升机长周期运动的收敛/发散速度变慢;Kane方法适用于直升机-柔性绳索-吊挂系统的动力学建模

方程整齐简洁

编程求解方便.

Abstract

A dynamic model of a helicopter-flexible rope-slung load system based on Kane's method was completed. Through kinematical description of the system

the system was divided into three parts

i.e.

helicopter ontology

slung rope and slung load.The helicopter ontology is a six-degree-of-freedom rigid body. The slung rope was simulated by a spring-connected lumped mass model; the slung load was simulated by a three-degree-of-freedom mass.Kane's dynamical equations of the helicopter-flexible rope-slung load system were established in the consideration of gravitational forces

aerodynamic forces and elastic forces.For the helicopter ontology and the helicopter-flexible rope-slung load system in consideration of flexible rope

the trim states at different forward velocities were computed first

then the motion modes were analyzed and compared.Simulation results show:the helicopter needs extra collective pitch with introduction of slung load; convergent/divergence rate of helicopter phugoid motion slows down in consideration of flexible rope; Kane's method is suited for building up the dynamic model of helicopter-flexible rope-slung load system

the equations are simple

shipshape and suited for programmable calculation.

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Related Institution

China Helicopter Research and Development Institute, Aviation Industry Corporation of China, Limited

National Laboratory of Science and Technology on Rotorcraft Aeromechanics, Nanjing University of Aeronautics and Astronautics

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中南大学机电工程学院

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