某型无人机滑跑起降纠偏控制改进分析

Improvement on Ground Taxiing Rectification Control of a Certain UAV

地面滑跑起降是轮式无人机飞行过程中的一个重要阶段,研究地面滑跑起降阶段的动力学特性对于无人机抗侧风特性摸底和纠偏控制律设计优化具有重要意义。基于轮胎侧向力模型、弹性轮胎和刚性机体假设,在Matlab平台建立地面滑跑阶段全量非线性模型和纠偏控制模型,综合分析发动机扭矩与侧风等工况下滑跑起飞和着陆过程中的响应特性,并对比分析两种不同纠偏控制模型下的纠偏性能和抗侧风特性。结果表明:该仿真模型能够反映无人机滑跑起降阶段的动力学特性,改进后的纠偏控制模型能够大幅缩短滑跑起飞距离,并且可以较好地实现纠偏控制。

Ground taxiing is an important stage in the flight process of wheeled UAV,the dynamic characteristics of ground taxiing is of great significance for finding out the anti-crosswind characteristics and optimizing the rectifica⁃tion control.Based on the assumption of tire lateral force model,elastic tire and rigid body,a whole nonlinear math⁃ematical and rectification control scheme model is established in the Matlab environment.The engine torque and crosswind conditions are analyzed,and two different rectification control schemes are compared in addition.The simulation results show that the model can reflect the dynamic characteristic of ground taxiing,also the improved control scheme can shorten the takeoff distance and achieve better rectification performance.