滑跑三维动力学建模与纠偏控制约束分析

doi:10.7527/S1000-6893.2024.30154

Abstract

Abstract: As a key point in the wheeled takeoff and landing of fixed wing Unmanned Aerial Vehicles (UAVs), the safety of the taxiing process directly determines the success of the takeoff and landing processes. The model accuracy and the deviation correction control are crucial for the credibility of the simulation results, which directly affects the actual flight safety. The 3D dynamics and control constraint characteristics of taxiing process for the tricycle gear fixed wing UAV is focused in this paper. Firstly, the continuous function approximation model of tire friction and the speed-based analysis method of lateral force are proposed, to satisfy the demand of all states and real-time simulation. Secondly, a relatively accurate 3D dynamic model of the process of taxiing deviation control was established by fully considering the 3D effects of the landing gear. Thirdly, taking the centripetal force required for taxiing correction as the breakthrough point, the constraint analysis method for taxiing deviation is established. Taking a UAV as an ex-ample, the controllability boundaries of front wheel and rudder are analyzed and established. Finally, the accuracy and feasibility of the proposed modelling and constraints analysis method were verified through simulation.

Key words: tricycle gear, ground taxiing, dynamic modelling of taxiing, constraint boundary of taxiing correction control, wheeled takeoff and landing

CLC Number:

V249.1

References

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3D Dynamic Modelling and Constraints Analysis of Taxiing Deviation Correction Control

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