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首页> 外文会议>AIAA aviation technology, integration and operations conference >High-Fidelity Multirotor Unmanned Aircraft System Simulation Development for Trajectory Prediction Under Off-Nominal Flight Dynamics
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High-Fidelity Multirotor Unmanned Aircraft System Simulation Development for Trajectory Prediction Under Off-Nominal Flight Dynamics

机译：非名义飞行动力学下用于轨迹预测的高保真多旋翼无人机系统仿真开发

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The NASA Unmanned Aircraft System (UAS) Traffic Management (UTM) project is conducting research to enable civilian low-altitude airspace and UAS operations. A goal of this project is to develop probabilistic methods to quantify risk during failures and off-nominal flight conditions. An important part of this effort is the reliable prediction of feasible trajectories during off-nominal events such as control failure, atmospheric disturbances, or navigation anomalies that can cause large deviations from the intended flight path or extreme vehicle upsets beyond the normal flight envelope. Few examples of high-fidelity modeling and prediction of off-nominal behavior for small UAS (sUAS) vehicles exist, and modeling requirements for accurately predicting flight dynamics for out-of-envelope or failure conditions are essentially undefined. In addition, the broad range of sUAS aircraft configurations already being fielded presents a significant modeling challenge, as these vehicles are often very different from one another and are likely to possess dramatically different flight dynamics and resultant trajectories and may require different modeling approaches to capture off-nominal behavior. NASA has undertaken an extensive research effort to define sUAS flight dynamics modeling requirements and develop preliminary high-fidelity six degree-of-freedom (6-DOF) simulations capable of more closely predicting off-nominal flight dynamics and trajectories. This research has included a literature review of existing sUAS modeling and simulation work as well as development of experimental testing methods to measure and model key components of propulsion, airframe and control characteristics. The ultimate objective of these efforts is to develop tools to support UTM risk analyses and for the real-time prediction of off-nominal trajectories for use in the UTM Risk Assessment Framework (URAF). This paper focuses on modeling and simulation efforts for a generic quadrotor configuration typical of many commercially available vehicles in use today. An overview of relevant off-nominal multirotor behaviors will be presented to define modeling goals and to identify the prediction capability lacking in simplified models of multirotor performance. A description of recent NASA wind tunnel testing of multirotor propulsion and airframe components will be presented illustrating experimental and data acquisition methods, and a description of preliminary propulsion and airframe models will be presented. Lastly, examples of predicted off-nominal flight dynamics and trajectories from the simulation will be presented.
机译：NASA无人飞机系统（UAS）交通管理（UTM）项目正在进行研究，以使民用低空空域和UAS能够运行。该项目的目标是开发概率方法，以量化故障和非标称飞行条件下的风险。这项工作的重要部分是可靠预测非标称事件（例如，控制失灵，大气干扰或导航异常）期间的可行轨迹，这些异常事件可能会导致偏离预期的飞行路径或超出正常飞行范围的极端车辆翻车事故。很少有用于小型UAS（sUAS）车辆的高保真建模和偏离标称行为预测的示例，并且对于准确预测包络或故障条件下的飞行动力学的建模要求基本上是不确定的。此外，已经投入使用的各种UAAS飞机配置提出了重大的建模挑战，因为这些车辆通常彼此之间非常不同，并且可能拥有截然不同的飞行动力学和合成轨迹，并且可能需要不同的建模方法来进行捕获-名义行为。 NASA进行了广泛的研究工作，以定义sUAS飞行动力学建模要求，并开发了初步的高保真六自由度（6-DOF）仿真，能够更加精确地预测名义飞行动力学和轨迹。这项研究包括对现有sUAS建模和仿真工作的文献综述，以及用于测量和建模推进力，机身和控制特性的关键组件的实验测试方法的开发。这些工作的最终目的是开发工具，以支持UTM风险分析以及用于UTM风险评估框架（URAF）的非标称轨迹的实时预测。本文着重于为当今使用的许多商用车辆所特有的通用四旋翼配置进行建模和仿真的工作。将介绍相关的偏离名义的多转子行为，以定义建模目标并确定多转子性能简化模型中缺乏的预测能力。将介绍最近的NASA多旋翼推进器和机身组件的风洞测试，说明实验和数据采集方法，并对初步推进器和机身模型进行描述。最后，将给出从模拟中预测出的偏离标称飞行动力学和轨迹的示例。

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