变化风场中无人机的动力学建模及飞行特性分析

Dynamics modeling and analysis of an unmanned aerial vehicle with wind effects

研究了变化风场中无人机的动力学建模与飞行特性问题。给出了大气扰动的Von Kaman模型,推导出变化风场中无人机的六自由度非线性动力学模型,最后基于上述模型进行数值计算,分析了变化风场中无人机的飞行特性。结果表明,该模型能准确地描述无人机的动力学和运动学规律;大气扰动下,各运动参数均产生不同幅度的振荡;同一频谱的扰动在不同方向上对无人机的影响差异较大;地速航向角和空速航向角存在偏差,侧向扰动对航向的影响最为显著。

A nonlinear six degrees of freedom dynamics model of an unmanned aerial vehicle（UAV） with wind effects and its flight simulation analysis are presented. Firstly, the Von Kaman model of atmosphere disturbance is described. Then, the nonlinear six degrees of freedom dynamics model of the UAV is derived. Finally, flight simulations of the UAV under atmosphere disturbance are done. The results show that the model is valid and accurate. The atmosphere disturbance will induce vibration on motion parameters. Under the same power spectral density, the effects of atmosphere disturbance are different according to the orientations. Groundspeed heading is not identical with airspeed heading under atmosphere disturbance, and the effect of cross disturbance on heading is the most remarkable.