高速无人机着陆滑跑纠偏联合仿真研究

Co-simulation Research of Deviation Correction Control for High-speed UAV Taxiing

针对高空高速无人机着陆地面滑跑过程中的侧向偏移问题,建立了差动刹车和方向舵联合纠偏控制系统。使用动力学软件LMS Virtual.Lab Motion建立了包含阻力伞、气动舵面和起落架等设计因素的全机动力学模型,并与Matlab/Simulink控制模型进行全无人机着陆滑跑联合仿真分析,验证了在侧风情况下无人机着陆滑跑纠偏性能。仿真结果表明,所设计控制系统满足性能指标要求,在无人机的整个滑跑阶段均有良好的抗风纠偏效果。

The deviation- correction control model for high- speed unmanned aerial vehicle（ UAV） taxiing was studied. A combined deviation- correction control structure was proposed which employed rudder deflection and main- wheel differential braking. The whole aircraft dynamic model that contains the drag parachute,aerodynamic control surfaces and landing gear was established with dynamics software LMS Virtual. Lab Motion,and aircraft taxiing model co- simulation and analysis with Matlab / Simulink control model,to verify the performance of aircraft landing taxiing under strong crosswind. The simulation results show that the designed control system meets the performance requirements for the high- speed UAV,and it could realize effective deviation- correction control for the full taxiing stage on this aircraft.