摇臂式起落架无人机地面滑跑数学模型与仿真
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摘要
针对具有摇臂式起落架无人机的地面滑跑数学建模问题,通过充分地分析无人机起落架缓冲器的运动特性,考虑机轮滚动摩擦特性、主轮刹车特性及机轮侧偏力对无人机的作用,同时考虑气动力及其力矩,根据刚体动力学和运动学理论,建立能全面反映无人机地面滑跑物理运动特性的六自由度非线性全量数学模型。以某无人机为例,进行了数学建模与仿真分析。仿真结果表明,所建立的六自由度非线性全量数学模型能真实地反映出无人机地面滑跑物理运动特性。
To the problem of mathematical modeling of taxiing of UAVs with articulated landing gear?a detailed analysis is made to the movement characteristics of the landing gear buffer.Considering the wheel rolling friction characteristics?the main wheel differential braking characteristics and the lateral deflection of the wheel?also taking into account of the aerodynamic force and its torque?and based on the theory of rigid body dynamics and kinematics?we established a six-degree-of-freedom nonlinear full-scale mathematical model?which can fully reflect the physical motion characteristics of the taxiing of UAVs.Taking a certain UAV as an example?we carried out mathematical modeling and simulation analysis.The simulation results show that the established six-degree-of-freedom nonlinear full-scale mathematical model can truly reflect the physical movement characteristics for UAV taxiing.
To the problem of mathematical modeling of taxiing of UAVs with articulated landing gear?a detailed analysis is made to the movement characteristics of the landing gear buffer.Considering the wheel rolling friction characteristics?the main wheel differential braking characteristics and the lateral deflection of the wheel?also taking into account of the aerodynamic force and its torque?and based on the theory of rigid body dynamics and kinematics?we established a six-degree-of-freedom nonlinear full-scale mathematical model?which can fully reflect the physical motion characteristics of the taxiing of UAVs.Taking a certain UAV as an example?we carried out mathematical modeling and simulation analysis.The simulation results show that the established six-degree-of-freedom nonlinear full-scale mathematical model can truly reflect the physical movement characteristics for UAV taxiing.
引文
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[14] 空军第八研究所,航空工业部六三○所.GJB185-86有人驾驶飞机(固定翼)飞行品质[S].北京:总装备部军标出版发行部,1986.
[2] KARGIN V.Design of an autonomous landing control algorithm for a fixed wing UAV[D].Ankara:Middle East Technical University?2007.
[3] 段镇,高九州,贾宏光,等.无人机滑跑线性化建模与增益调节纠偏控制[J].光学精密工程,2014?22(6):1507-1516.
[4] 王勇,王英勋.无人机滑跑纠偏控制[J].航空学报,2008?29(s1):142-149.
[5] 陈晨,周洲.无人机滑跑起飞过程及其数学模型研究[J].科学技术与工程,2007?7(13):3198-3201.
[6] 徐冬苓,李玉忍.飞机起落架数学模型的研究[J].系统仿真学报,2005?17(4):831-833.
[7] 张雯,张智,朱齐丹,等.任意着陆状态下的飞机起落架模型仿真研究[J].系统仿真学报,2009?21(13):3867-3875.
[8] 段松云,朱纪洪,孙增圻.无人机着陆数学模型研究——三轮着地滑行[J].系统仿真学报,2004?16(6):1296-1299.
[9] 袁东.飞机起落架仿真数学模型建立方法[J].飞行力学,2002?20(4):44- 47.
[10] 郝现伟,杨业,贾志强,等.无人机着陆滑跑数学模型与纠偏控制[J].电机与控制学报,2014?18(6):85-92.
[11] 刘红光,顾彬彬,邱峰,等.7.50R20 14PR PW02型轮胎侧偏刚度的试验与拟合[J].拖拉机与农用运输车,2009?36(5):63-65.
[12] 隋福成,陆华.飞机起落架缓冲器数学模型研究[J].飞机设计,2001?6(2):44-51.
[13] 吴森堂,费玉华.飞行控制系统[M].北京:北京航空航天大学出版社,2005.
[14] 空军第八研究所,航空工业部六三○所.GJB185-86有人驾驶飞机(固定翼)飞行品质[S].北京:总装备部军标出版发行部,1986.