旋翼无人机复杂地形自动平衡着陆架的设计

目前的旋翼无人机对着陆场地的要求都比较高,必须要平坦的地面,有时无法满足要求。该着陆架系统的设计以四足动态支架为基础,每个支架腿类似于人腿,有两个自由度的活动关节,依靠舵机控制,从而控制类似于人的下蹲和起立的动作。该着陆架可根据地形的不同(如斜坡、台阶或凸凹不平的地面),采用MPU6050陀螺仪检测机身各轴向偏转角,通过STM32嵌入式系统进行模糊PID算法控制,四个支架腿自动调整姿态,以保证旋翼无人机的机身保持水平稳定,更有利于飞机的起降和适应不同的着陆场地。

The current rotary-wing UAVs have relatively high requirements for landing sites.They must have a flat ground and sometimes cannot meet the requirements.The landing system is based on a four-legged dynamic bracket,each of which is similar to a human leg,has two degrees of freedom of articulation,and is controlled by a steering gear to control human jaw-like and standing movements.The landing frame can be used to detect the axial deflection angle of the fuselage according to different terrains(such as slopes,steps or uneven ground).The PID algorithm is controlled by the STM32 embedded system,and the four bracket legs automatically adjust the attitude.In order to ensure that the fuselage of rotorcraft UAV remains stable,it is more conducive to the take-off and landing of the aircraft and adapt to different landing sites.