ACTA AERONAUTICAET ASTRONAUTICA SINICA >
3D dynamic modelling and constraints analysis of taxiing deviation correction control
Received date: 2024-01-15
Revised date: 2024-02-22
Accepted date: 2024-05-06
Online published: 2024-05-14
Supported by
Natural Science Foundation of Hunan Province(2023JJ30631);National Level Project(2021ZD01403XX-01);Science and Technology Innovation Program of Hunan Province(2021RC3077)
As a key aspect 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 procedures. The model accuracy and deviation correction control are crucial for the credibility of simulation results， and directly affect actual flight safety. This paper investigates the characteristics of the 3D dynamics and deviation correction control constraints in the taxiing process of the tricycle-gear fixed-wing UAV. Firstly， a continuous function approximation model of tire friction and a speed-based analysis method of lateral force are proposed to satisfy the demands of all states and real-time simulation of UAV taxiing process. Secondly， a relatively accurate 3D dynamic model of the taxiing deviation control process is established by fully considering the 3D effects of the landing gear. Thirdly， taking the centripetal force required for taxiing correction as the breakthrough point， a constraint analysis method for taxiing deviation is developed. Using a UAV as an example， the controllability boundaries of the front wheel and rudder of the UAV are analyzed and established. Finally， the accuracy and feasibility of the proposed modeling and constraint analysis method are verified through simulation.
Hongbo XIN , Qingyang CHEN , Peng WANG , Yujie WANG , Zhongxi HOU . 3D dynamic modelling and constraints analysis of taxiing deviation correction control[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2024 , 45(21) : 230154 -230154 . DOI: 10.7527/S1000-6893.2024.30154
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