| 起落架四点布局无人机地面运动研究 |
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| 引用本文： | 罗东,龚华军,袁锁中,陈广永.起落架四点布局无人机地面运动研究[J].飞机设计,2007,27(5):15-19,34. |
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| 作者姓名： | 罗东 龚华军 袁锁中 陈广永 |
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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： | 以国内某四轮无人机为研究对象,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,建立了六自由度刚体飞行器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、着陆时地面运动的仿真,该仿真结果表明了系统模型的正确性。
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| 关 键 词： | 无人机 地面运动 数学模型 |
| 文章编号： | 1673-4599（2007）05-0015-05 |
| 收稿时间： | 2007-05-09 |
| 修稿时间： | 2007-05-092007-08-16 |
Study of Ground Motion of an UAV with Four-Wheel Landing Gear |
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| LUO Dong,GONG Hua-jun,YUAN Suo-zhong,CHEN Guang-yong.Study of Ground Motion of an UAV with Four-Wheel Landing Gear[J].Aircraft Design,2007,27(5):15-19,34. |
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| Authors: | LUO Dong GONG Hua-jun YUAN Suo-zhong CHEN Guang-yong |
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| Abstract: | Motion characteristics of and loads acted on a domestic unmanned aerial vehicle(UAV) with four-wheel landing gear in the ground rolling are investigated allowing for various factors including ground friction,side force,and rotation rate,etc.and the six-degree-of-freedom dynamic and kinematic equations of motion of the rigid vehicle in the ground operation are developed.A ground rolling simulation in the phases of takeoff and landing for the UAV is conducted using the nonlinear model.The simulation results show the validity of the system model. |
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| Keywords: | UAV ground motion mathematical model |
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