Control Research for a Small Fixed-Wing UAV DuringGround Taxiing  

作　　者：Jiuzhou Gao Hongguang Jia 

机构地区：[1]Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China [2]University of Chinese Academy of Sciences,Beijing 100039,China

出　　处：《Journal of Harbin Institute of Technology(New Series)》2017年第2期51-57,共7页哈尔滨工业大学学报（英文版）

基　　金：Sponsored by the Knowledge Innovation Project of Chinese Academy of Sciences(Grant No.YYJ-1122)

摘　　要：Ground taxiing is the key process of take-off and landing for a tricycle-undercarriage unmanned aerial vehicle( UAV). Nonlinear model of a sample UAV is established based on stiffness and damping model of landing gears and tires taken into account. Then lateral nonlinear model is linearized and state space equations are deduced by using nose wheel and ruder as inputs and lateral states as outputs. Adaptive internal model control( AIMC) is proposed and applied to lateral control based on decoupled and linearized dynamic model during ground taxiing process. Different control strategies are analyzed and compared by simulations,and then a combined control strategy of nose wheel steering with holding and rudder control is given. Hardware in loop simulations( HILS) proves the validity of the controller designed.Ground taxiing is the key process of take-off and landing for a tricycle-undercarriage unmanned aerial vehicle （ UAV）. Nonlinear model of a sample UAV is established based on stiffness and damping model of landing gears and tires taken into account. Then lateral nonlinear model is linearized and state space equations are deduced by using nose wheel and ruder as inputs and lateral states as outputs. Adaptive internal model control （AIMC） is proposed and applied to lateral control based on decoupled and linearized dynamic model during ground taxiing process. Different control strategies are analyzed and compared by simulations, and then a combined control strategy of nose ＂wheel steering ＂with holding and rudder control is given. Hardware in loop simulations （HILS） proves the validity of the controller designed.

关 键 词：ground taxiing landing gears and tires model AIMC control strategy HILS 

分 类 号：T[一般工业技术]