为分析航速对舰载系留无人机系统的影响,建立了迎浪航行时系统的非线性动力学模型,数值分析了不同航速区域下缆绳张力和无人机的运动。区域Ⅰ,无人机相轨迹封闭,呈现单周期运动特性,缆绳下端点张力产生倍频响应;区域Ⅱ,无人机相轨迹存在交点,呈现倍周期运动特性;区域Ⅲ,无人机相轨迹不封闭,运动轨迹不重合,呈现混沌运动特性,缆绳下端点张力频谱为连续谱。研究结果可为系留无人机跟随舰船安全飞行提供理论参考。
In order to analyze the effect of speed on shipborne tethered unmanned aerial vehicle (UAV) system, a nonlinear dynamic model of the system is established, and the cable tension and UAV movement in different speed regions are numerically analyzed. In region I, the UAV phase trajectory is closed, showing single-period motion characteristics, and the end tension under the cable produces frequency doubling response; In region II, there are intersection points in the UAV phase trajectory, showing period-doubling motion characteristics; In region III, the UAV phase trajectory is not closed, the motion trajectory is not coincident, showing chaotic motion characteristics, and the end tension spectrum under the cable is continuous spectrum. The research results of this paper can provide theoretical reference for the safe flight of tethered UAVs following ships.
[1] 龙文彪. 系留多旋翼无人机及其应用[J]. 科技创新导报, 2020, 17(2):57,59.
Long W B. Tethered multi-rotor UAV and its applications[J]. Science and Technology Innovation Herald, 2020, 17(2):57,59.
[2] 徐义武,张素侠. 具有动边界的刚-柔耦合系统模态实验研究[J]. 应用力学学报, 2021, 38(2):474-479.
Xu Y W, Zhang S X. Modal experiment study of rigid-flexible coupling system with moving boundary[J]. Chinese Journal of Applied Mechanics, 2021, 38(2):474-479.
[3] 何伟,张素侠,李亚泽,等. 系留无人机系统冲击张力实验研究[J]. 力学学报, 2024, 56(5):1448-1457.
He W, Zhang S X, Li Y Z, et al. Experimental study on the impact tension of a tethered unmanned aerial vehicle system[J]. Chinese Journal of Theoretical and Applied Mechanics, 2024, 56(5):1448-1457.
[4] 朱倩云,梁玉珂,沈林维. 目标海域中航行船舶横摇谱密度值的预报策略[J]. 船舶力学, 2023, 27(10):1487-1495.
Zhu Q Y, Liang Y K, Shen L W. Prediction strategy of roll power spectral density value of a ship sailing in a target sea area[J]. Journal of Ship Mechanics, 2023, 27(10):1487-1495.
[5] 李积德. 船舶耐波性[M].哈尔滨:哈尔滨工程大学出版社, 2007:61-63.
[6] Wang L Y, Tang Y G, Li Y, et al. Studies on stochastic parametric roll of ship with stochastic averaging method[J]. China Ocean Engineering, 2020, 34(2):289-298.
[7] Guo C Y, Xie C, Zhang J Z, et al. Experimental investigation of the resistance performance and heave and pitch motions of ice-going container ship under pack ice conditions[J]. China Ocean Engineering, 2018, 32(2):169-178.
[8] Lian J J, Jiang J N, Dong X F, et al. Coupled motion characteristics of offshore wind turbines during the integrated transportation process[J]. Energies, 2019, 12(10):2023.
[9] 栗铭鑫,潘苏涌,程勇. 波浪中受侧壁影响的船舶航行水动力性能研究[J]. 中国造船, 2023, 64(5):107-118.
Li M X, Pan S Y, Cheng Y. Study on the hydrodynamic performance of ships sailing in waves considering action of sidewalls[J]. Shipbuilding of China, 2023, 64(5):107-118.
[10] 陈松领,刘习军. 考虑舰船激励和系留点偏移的系留无人机运动响应研究[J]. 应用力学学报,2024, 41(5):1007-1014.
Chen S L, Liu X J. Research on motion response of tethered UAV considering ship excitation and tethering point deflection[J]. Chinese Journal of Applied Mechanics,2024, 41(5):1007-1014.
[11] Tao Y, Zhang S X. Research on the vibration and wave propagation in ship-borne tethered UAV using stress wave method[J]. Drones, 2022, 6(11):349.
[12] He W, Zhang S X. Vibration response analysis of a tethered unmanned aerial vehicle system under transient wind field[J]. International Journal of Aerospace Engineering. 2024:1-18.
[13] Talke K, Birchmore F, Bewley T. Autonomous hanging tether management and experimentation for an unmanned air-surface vehicle team[J]. Journal of Field Robotics, 2022, 39(6):869-887.
[14] Talke K, Birchmore F. Autonomous hanging tether management and experimentation for a UAV-USV team: sea trials[C]. OCEANS 2023-Limerick. Ireland: IEEE, 2023:1-8.
[15] 马网扣,诸国华,高攀. 大型邮轮安全返港的波浪增阻评估研究[J]. 中国造船, 2024, 65(3):62-70.
Ma W K, Zhu G H, Gao P. Study on evaluation of wave added resistance for safe return to port of large cruise ships[J]. Shipbuilding of China, 2024, 65(3):62-70.[16] 闫澍旺,李嘉,雷震名,等. 涌浪环境中铺管船横摇机理及模型试验研究[J]. 海洋工程, 2016, 34(4):16-22,46.
Yan S W, L J, Lei Z M, et al. Mechanism and model test research of pipelay vessel rolling affected by swells[J]. The Ocean Engineering, 2016, 34(4):16-22,46.
[17] 杜晓蕾,李明. 垂荡激励下船用旋转机械-气囊隔振系统的非线性振动机理[J]. 振动工程学报, 2021, 34(4):782-789.
Du X L, Li M. Mechanism of nonlinear vibration of the marine rotating machinery with air-bag system under heaving motion[J]. Journal of Vibration Engineering, 2021, 34(4):782-789.
[18] 刘洪德,张素侠. 基于应变修正的二维缆索动力学建模改进[J]. 中国科学(物理学 力学 天文学), 2022, 52(12):86-95.
Liu H D, Zhang S X. Improvement of two-dimensional dynamic modeling of cable based on strain modification[J]. Scientia Sinica (Physica, Mechanica & Astronomica), 2022, 52(12):86-95.
[19] Ioppo P G. The design, modeling and control of an autonomous tethered multirotor UAV[D]. Stellenbosch: University of Stellenbosch, 2017.
[20] 丁杰,吴国伟,陈家庆,等. 基于CCMP再分析风场资料的南海海洋风能资源评估研究[J]. 海洋技术学报, 2022, 41(5):83-90.
Ding J, Wu G W, Chen J Q, et al. Research on evaluation of ocean wind energy resources in the south China sea based on CCMP reanalysis of wind field data[J]. Journal of Ocean Technology, 2022, 41(5):83-90.
[21] 赵浩东. 考虑弹性效应的大型舰船波浪载荷响应研究[D]. 哈尔滨:哈尔滨工程大学, 2017.
Zhao H D. Study of wave load responses of large ship considering elastic effect[D]. Harbin: Harbin Engineering University, 2017.
[22] 范影乐,李轶. 基于非线性动力学方法的时间序列处理[J]. 复杂系统与复杂性科学, 2004, 1(3):70-75.
Fan Y L, Li Y. Time series processing based on nonlinear dynamics[J]. Complex Systems and Complexity Science, 2004, 1(3):70-75.
[23] Irvine H M. Cable Structures[M]. Cambridge, Massachusetts: The MIT Press, 1981:100.
