轮式无人机地面滑跑模型的建立  

Establishment of Taxiing Model for a Wheeled UAV

作　　者：王程坤 李秀娟[1] WANG Cheng-kun LI Xiu-juan(College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China)

机构地区：[1]南京航空航天大学自动化学院,南京211100

出　　处：《电光与控制》2017年第2期89-94,共6页Electronics Optics & Control

摘　　要：无人机地面滑跑模型的建立是起飞、着陆阶段地面滑跑控制律设计及实时系统仿真开发的基础。建立某轮式无人机的起落架模型和轮胎模型,将无人机质量分为弹性支撑质量和非弹性支撑质量两部分,在无人机滑跑时,对两部分进行动力学分析,建立无人机的地面滑跑模型,并对无人机地面滑跑模型进行加速和减速滑跑的仿真测试,最终的仿真结果表明模型正确。The establishment of taxiing model for the Unmanned Aerial Vehicle （UAV） is the basis for control law design and real-time simulation system development of the UAV＇s taxiing in take-off and landing. We established the landing gear model and tire model of a wheeled UAV. The quality of UAV was divided into elastic support quality and rigid support quality. Analysis was made to the dynamic characteristics of the two parts in the UAV＇s taxiing phase, and the taxiing model of a wheeled UAV was established. Simulation tests of accelerated taxiing （take-off） and decelerated taxiing （landing） were made to the model, and the result show that the model is correct.

关 键 词：无人机 地面滑跑模型 动力学分析 仿真测试 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]