轮式起降无人机滑跑起飞阶段动力学仿真研究

Dynamics Simulation Research on Tricycle Landing Gear UAV During Taxiing and Take-off Phase

无人机地面滑跑起飞阶段是飞行过程中的危险阶段,其受力情况复杂,动力学特性与空中飞行时略有不同。以某轮式起降无人机为研究对象,根据起落架的机械特性和几何关系将起落架等效为一个弹簧阻尼系统,并在Matlab/Simulink中集成无人机本体、起落架、发动机、舵机、控制系统等模型,建立的仿真平台模拟无人机滑跑起飞全过程。结果表明:该轮式起降无人机在滑跑起飞过程中压着机头滑跑,始终对准航向,滚转姿态变化很小;在大油门推力作用下无人机增速较快,抬前轮后瞬间主轮离地,并以稳定的速度爬升,较短时间内可以到达安全高度。

The UAV taxiing and take-off phase is a dangerous phase in the flight process,during which the force of UAV is very complex and the dynamic characteristics is different from that in the air.The landing gear model is equivalent to a spring damping system,according to the mechanical properties and geometry of the landing gear of a certain tricycle landing gear UAV.The simulation platform of taxiing and take-off process established in Matlab/Simulink including the model of UAV,the landing gear,the engine and the control system which can simulate the complete process well.Results show that the UAV is nose-down running and always aligned with the heading,while the change of roll attitude is very small.Under the effect of high throttle,the UAV＇s speed is increasing faster.After the front wheel is lifted,the main wheel leaves the ground,and the UAV begin to climb at a steady speed.The safe altitude can be reached within a short time.