| 无人机地面滑行自主起飞的建模与控制 |
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| 作者单位： | 南京航空航天大学自动化学院 江苏南京210016 |
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| 摘 要： | 前三点式无人机地面滑行起飞的整个过程由三轮滑行、抬前轮滑行和离地至安全高度3个阶段组成,3个阶段飞机的受力与约束均不相同。根据3个阶段的运动特性和飞机的气动特性,建立了一种通用的无人机地面纵向动力学模型,确定其抬前轮速度和离地速度,从而选择合适的控制策略来实现其自主起飞。以某型无人机为背景,建立了全量的非线性模型,并在此基础上设计了一种起飞的控制方案。仿真结果表明,此模型与控制方案具有较高的工程应用价值。
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| 关 键 词： | 无人机 地面动力学模型 抬前轮速度 自主起飞 |
Modeling and Control of UAV for Autonomic Take-off Through Ground Taxiing |
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| He Chenglong,Chen Xin,Li Chuntao. Modeling and Control of UAV for Autonomic Take-off Through Ground Taxiing[J]. Acta Aeronautica et Astronautica Sinica, 2008, 0(Z1) |
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| Authors: | He Chenglong Chen Xin Li Chuntao |
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| Abstract: | The autonomic take-off of tricycle-undercarriage unmanned aerial vehicle(UAV) through ground taxiing contains three phases,i.e.,ground run,rotation and lift-off.The forces and restrictions to the UAV differ during taxi-ing.According to the different movements and aerodynamic characteristics,a general whole nonlinear model is estab-lished by studying a certain UAV,the rotation speed and lift-off speed of which are determined,and finally a control scheme for autonomic take-off is designed.The result of simulation shows that the model and control scheme have a high value in realizing engineering project. |
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| Keywords: | UAV ground dynamics model rotation speed automatic take-off |
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