摘要
为解决无人机安全起降问题,对无人机地面运动品质与操纵转弯特性进行了研究。首先建立了无人机地面滑跑动力学模型,通过数字仿真得到了无人机地面运动的惯性参数及机轮状态。接着建立了前轮操纵转弯的数学模型,计算了无人机在各滑跑速度下所允许的极限操纵角和最小转弯半径。结果表明,为防止无人机出现侧滑或者侧翻事故,前轮操纵角在存在7°机械限位的情况下,与滑跑速度仍需有定量的约束关系。
For the safety of take-off lation characteristic of UAV is inves and landing of UAV, the ground motion quality and turning manipu- tigated. Firstly, based on the dynamical model of UAV ground move- ment, the inertial parameters and state of wheel are obtained by digital simulation. Secondly, the math- ematic model of front wheel turning manipulation is established, the extreme control angle and minimum tuming radius are calculated as well when UAV taxis at different speeds. To avoid the accident of UAV sideslip or tumbling, the front wheel steering angle should correspond to the taxiing speed in a certain number even it is under the mechanical limit of 7°.
出处
《飞行力学》
CSCD
北大核心
2015年第4期310-314,共5页
Flight Dynamics
基金
中国科学院知识创新工程国防科技创新重要项目(YYYJ-1122)
