【摘要】 针对传统液压拦阻在面对多种类无人机拦阻功能适配性不足的缺点，基于磁流变技术和主动控制技术，提出了一种闭环拦阻装置。运用AMESim搭建了拦阻系统动力学仿真模型，并基于序列二次规划法对拦阻系统结构参数进行了选定，基于选定的参数，对拦阻过程进行动态特性仿真，并对主动控制系统介入前后性能进行比对分析。为了更准确的模拟无人机拦阻过程的动态特性，基于有限段法构建拦阻索，并引入VL Motion构建多学科协同联合仿真。研究结果表明：主动控制介入后挂索瞬间峰值加速度相比加入前下降23%，拦阻距离下降9%，拦阻时间缩短3%，并且在挂索后无人机持续减速的过程中，加入主动控制后无人机加速度变化更加缓和；针对不同质量无人机，基于磁流变技术的主动控制拦阻装置比液压拦阻系统的适配性更好，拦阻距离和拦阻过载更加集中可控。更多还原

【Abstract】 To address the shortcomings of traditional hydraulic arresting system which faces the lack of adaptability of multiple types of unmanned aerial vehicles, UAVs, a closed-loop arresting device based on magnetorheological, MR technology and active control technology is proposed. AMESim is used to build the dynamic simulation model, and the structural parameters of the arresting system are selected based on the sequential quadratic programming method.Furthermore, the dynamic characteristics of arresting process are simulated, and the performance before and after the active control intervention is compared and analyzed. It more accurately simulate the dynamic characteristics of UAV arresting process, a more realistic arresting cable model is constructed based on the finite segment method. VL Motion is introduced to constitute the multidisciplinary collaborative co-simulation. The research results show that: by adding active control, the instantaneous peak acceleration of the UAV catching by cable decreases by 23%. The arresting distance decreases by 9% and the arresting time decreases by 3%. During the deceleration process, the deceleration changes of the UAV are more acceptable when the active control is added. In the face of different weights of UAVs, suitability of the new arresting device is better than the traditional hydraulic arresting system. The arresting distance and the acceleration of UAV are more centralized and controllable for the new arresting device.更多还原