| 某型无人机滑跑起降纠偏控制改进分析 |
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| 引用本文： | 史红伟,蔡永恒,李新华.某型无人机滑跑起降纠偏控制改进分析[J].航空工程进展,2021,12(3):102-111. |
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| 作者姓名： | 史红伟 蔡永恒 李新华 |
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| 作者单位： | 中国航天空气动力技术研究院 彩虹无人机科技有限公司,北京 100074;中国航天空气动力技术研究院 彩虹无人机科技有限公司,北京 100074;北京航空航天大学 航空科学与工程学院,北京 100191 |
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| 摘 要： | 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。
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| 关 键 词： | 无人机 滑跑起降 纠偏控制模型 纠偏性能 抗侧风特性 |
| 收稿时间： | 2020/9/8 0:00:00 |
| 修稿时间： | 2021/1/23 0:00:00 |
Research on Simulation and Analysis of UAV Ground Taxiing |
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| SHI HONGWEI,caiyongheng and lixinhua.Research on Simulation and Analysis of UAV Ground Taxiing[J].Advances in Aeronautical Science and Engineering,2021,12(3):102-111. |
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| Authors: | SHI HONGWEI caiyongheng and lixinhua |
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| Institution: | China Academy of Aerospace Aerodynamics,China Academy of Aerospace Aerodynamics,China Academy of Aerospace Aerodynamics |
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| Abstract: | In order to analysis the dynamic characteristic and optimize the rectification control scheme of UAV ground taxiing, based on the assumption of tire lateral force model, elastic tire and rigid body, a whole nonlinear mathematical model and rectification control scheme of was 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 optimized control scheme can shorten the takeoff distance and achieve better rectification performance. |
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| Keywords: | UAV ground taxiing control law lateral rectification performance anti crosswind |
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