多足地形自适应起落装置关键技术与研究进展

Key Technologies and Research Progress of Multi-legged Terrain Adaptive Takeoff and Landing Device

多足地形自适应起落装置,作为垂直起降飞行器智能化发展的关键技术之一,对解决垂直起降飞行器的机轮式和滑橇式起落架存在野外复杂地形难以着陆及恶劣海况下着舰停靠困难的问题有着重要的意义。结合多足地形自适应起落装置的研究经验和现有成果,本文总结了地形自适应起落装置研制的关键技术,主要集中在腿部轻量化结构与驱动一体化技术、地形识别-腿部闭环控制-飞控系统的协同控制技术、机体集成与试验技术三个方面,分别对各项关键技术展开讨论,对现有研究方法与成果进行详细说明。在多足地形自适应起落装置的设计构型的基础上开展关键技术讨论,给出目前的研究进展,总结了目前阶段存在的不足与技术壁垒,并对该研究领域的未来发展方向进行了展望。

The traditional landing gears of the VTOL aircraft are always the wheel type landing gears and sled type landing gears.For the difficulties of landing gears which land on the complex terrain or under the harsh sea conditions,development of multi legged terrain adaptive takeoff and landing device is one of the key technologies for the development of vertical takeoff and landing vehicle in the direction of intelligence.Combining the research experience and existing achievements of multi legged terrain adaptive landing gear,the key technologies are summarized in this paper.The three key technologies are technology of lightweight leg structure and driving integration,technology of cooperative control between terrain recognition-leg closed loop control-flight control,flight integration and experimental technology.The various key technologies are discussed in this paper,and the existing research methods and achievements are described in details.Based on the detailed development method and process of the multi legged terrain adaptive takeoff and landing device,the deficiencies and technical barriers at the current stage are summarized,and the future development direction of this research field is prospected.