起落架四点布局无人机地面运动研究

以起落架四点布局无人机为研究对象,在考虑摩擦力、侧向力和角速率等各种因素的情况下,全面分析研究了四轮无人机地面滑跑时的运动特点和受力情况,建立了四轮无人机地面运动的动力学方程和运动学方程。在此基础上,对全量非线性模型进行了起飞、着陆时地面滑跑情况的仿真,仿真结果表明了系统模型的正确性。

Ground Motion Studying of an UAV with Four Wheels

With background of a domestic UAV with four wheels,taking full account of effects of all the factors,such as friction,side friction and rotate angel velocity etc.,this paper studys the UAV's movement and force characteristics carefully,and then establishs the dynamic and kinematic equations of four-wheel UAV during the phase of ground motion.According to the whole nonlinear model simulation system designs and simulates,the simulation result shows that the system model is correct.