无人机四轮滑跑纠偏控制系统设计与仿真  

Design and Simulation of Ground Taxiing System for UAV with Four Wheels

作　　者：邓寅平[1] 范彦铭[1] 

机构地区：[1]沈阳飞机设计研究所,沈阳110035

出　　处：《系统仿真学报》2008年第21期5929-5935,5939,共8页Journal of System Simulation

摘　　要：分析某无人机四轮地面滑跑的运动特性,建立了四轮滑跑阶段的全量非线性模型,并进行仿真分析,仿真表明该模型能够准确的反映该无人机实际运动特性。完成了四轮滑跑纠偏控制系统/控制律设计和仿真分析,仿真结果表明该控制系统能够满足控制精度要求。Based on the analysis of dynamical characteristic about a certain type of domestic UAV with four wheels taxiing on the ground, a whole nonlinear ground-taxiing mathematical model was established. The results of simulation and analysis indicate that this nonlinear model accurately presents the actual dynamical characteristics of the UAV. The control law of ground-taxiing system to control the heading and the lateral deviation was designed. The results of simulation and analysis indicate the correcting deviation controller of ground-taxiing can satisfy the requirements of design precision.

关 键 词：无人机 滑跑 控制律 差动刹车 前轮转弯 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]