电光与控制, 2017, 24 (2): 89, 网络出版: 2017-02-23
轮式无人机地面滑跑模型的建立
Establishment of Taxiing Model for a Wheeled UAV
摘要
无人机地面滑跑模型的建立是起飞、着陆阶段地面滑跑控制律设计及实时系统仿真开发的基础。建立某轮式无人机的起落架模型和轮胎模型,将无人机质量分为弹性支撑质量和非弹性支撑质量两部分,在无人机滑跑时,对两部分进行动力学分析,建立无人机的地面滑跑模型,并对无人机地面滑跑模型进行加速和减速滑跑的仿真测试,最终的仿真结果表明模型正确。
Abstract
The establishment of taxiing model for the Unmanned Aerial Vehicle (UAV) is the basis for control law design and real-time simulation system development of the UAV's taxiing in take-off and landing.We established the landing gear model and tire model of a wheeled UAV.The quality of UAV was divided into elastic support quality and rigid support quality.Analysis was made to the dynamic characteristics of the two parts in the UAV's taxiing phase, and the taxiing model of a wheeled UAV was established.Simulation tests of accelerated taxiing (take-off) and decelerated taxiing (landing) were made to the model, and the result show that the model is correct.
王程坤, 李秀娟. 轮式无人机地面滑跑模型的建立[J]. 电光与控制, 2017, 24(2): 89. WANG Cheng-kun, LI Xiu-juan. Establishment of Taxiing Model for a Wheeled UAV[J]. Electronics Optics & Control, 2017, 24(2): 89.