Fig.1

Simplified longitudinal model of landing gear

Fig.2

Simplified yaw model of landing gear

Fig.3

Static+Coulomb+Stribeck effects

Fig.4

Comparison of velocity changes between physical model and approximate model during deceleration process

Fig.5

Simulated approximate friction model

Fig.6

Diagram of relative velocity relationship

Table 1

UAV parameters

Fig.7

Calculation model of rollover/sideslip constraint

Fig.8

Control constraint characteristic of nose gear

Fig.9

Rudder control analysis model

Fig.10

Centripetal force constraint characteristic of rudder correction deviation

Fig.11

Block diagram of taxiing simulation system

Fig.12

Landing gear deformation and attitude variation in drop test （initial altitude 0.5 m， roll 10°， and pitch 5°）

Fig.13

Variations in the body-frame components of the supporting and friction forces acting on the landing gears in drop test

Fig.14

Steering angle commands of nose gear and variation in turning radius

Fig.15

Variations of trajectory and heading in turning process

Fig.16

Variations in the body-frame components of the supporting and friction forces acting on the landing gears in turning test

Fig.17

Comparison of gear sideslip angle and lateral friction force changes in turning test

Fig.18

Variations in lateral friction force of the landing gear with time under rudder step command

Fig.19

Comparison of nose gear commands and turning radius changes during sideslip test

Fig.20

Variations in the body-frame components of the supporting and friction forces acting on the landing gears during slide test

Fig.21

Comparison of gear sideslip angle and lateral friction force changes during slide test

Fig.22

Variations in rudder deflection and roll channel states in rudder deviation correction process

Fig.23

Deformation in correction deviation using rudder

Fig.24

Variations of the body-frame components of the supporting and friction force on the landing gears during rollover test

Fig.25

Comparison of gear sideslip angle and lateral friction force changes during rollover test