考虑环境风速与偏移距离下系留无人机柔性管缆姿态响应研究

ATTITUDE RESPONSE OF TETHERED UNMANNED AERIAL VEHICLE (UAV) FLEXIBLE TUBE CABLE CONSIDERING AMBIENT WIND SPEED AND OFFSET DISTANCE

  • 摘要: 以超高层建筑火灾复杂火场环境为研究背景,以系留无人机消防水带(以下称为柔性管缆)在多源扰动条件下长距离垂直输运的管缆姿态响应为研究对象,充分考虑柔性管缆在不同环境风速和管缆消防车端(A端)与管缆无人机喷射端(B端)的偏移距离下的动态姿态特征,基于OrcaFlex软件建立系留无人机柔性管缆200 m垂直输运模型,对柔性管缆姿态响应行为、管缆偏移程度及沿程张力分布情况进行重点分析。结果表明:在准稳态下,随着风速的增大,对比初始状态时的偏移程度加剧,管缆的触地长度及达到准稳态的时间减小,水平偏移量增大,管缆B端的偏移角增大;张力从消防车端沿管缆逐渐增大,在无人机喷射端达到峰值,且管缆沿程张力与风速呈现正相关;随着偏移距离的增大,对比初始状态时的偏移程度越小,水平偏移量增大,管缆B端的偏移角减小;管缆沿程张力与偏移距离呈现正相关。建立了不同偏移距离下的管缆无人机喷射端的张力与风速的对应关系,得出了系留无人机消防安全作业的临界风速,为系留无人机在超高层建筑消防中的应用提供了理论基础和数据依据。

     

    Abstract: Taking the complex fire environment of high-rise buildings as the research background, this study investigates the attitude response of a tethered UAV firefighting hose—referred to hereafter as the "flexible pipe cable"—during long-distance vertical transport under multi-source perturbation conditions. The research thoroughly considers the dynamic posture characteristics of the flexible pipe cable under varying environmental wind speeds and the offset distances between the fire truck end and the drone's jet end of the cable. Based on OrcaFlex software, a 200 m vertical transport model of the flexible pipe cable was developed, focusing on analyzing its attitude response, offset degree, and along the pipe cable tension distribution. The results show that in the quasi-steady state, as the wind speed increases, the degree of offset in comparison with that in the initial state is intensified, the length of the touchdown length of the pipe cable and the time to reach the quasi-steady state decrease, the amount of offset increases, and the offset angle of the B-end of the pipe cable increases. Tension increases gradually from the fire truck end along the pipe cable and peaks at the UAV spray end, with a positive correlation between along-pipe cable tension and wind speed. As the offset distance increases, the degree of offset is smaller than that in the initial state, the horizontal offset increases, and the offset angle at the B-end of the pipe cable decreases; there is a positive correlation between along-pipe cable tension and displacement distance. Ultimately, the relationship between the tension at the jet end of the pipe and the cable UAV and the wind speed at different offset distances was established, and the critical wind speed for tethered UAVs firefighting safety operations was obtained, which provides a theoretical basis and data basis for the application of tethered UAVs in firefighting operations.

     

/

返回文章
返回