摇臂式起落架无人机地面滑跑数学模型与仿真

Mathematical Modeling and Simulation of Taxiing of UAVs with Articulated Landing Gear

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.