某型无人机滑跑起降纠偏控制改进分析  

Improvement on Ground Taxiing Rectification Control of a Certain UAV

作　　者：史红伟[1] 蔡永恒[1] 李新华[1,2] SHI Hongwei;CAI Yongheng;LI Xinhua(Caihong UAV Technology Co.,Ltd.,China Academy of Aerospace Aerodynamics,Beijing 100074,China;School of Aeronautics Science and Engineering,Beihang University,Beijing 100191,China)

机构地区：[1]中国航天空气动力技术研究院彩虹无人机科技有限公司,北京100074 [2]北京航空航天大学航空科学与工程学院,北京100191

出　　处：《航空工程进展》2021年第3期102-111,共10页Advances in Aeronautical Science and Engineering

摘　　要：地面滑跑起降是轮式无人机飞行过程中的一个重要阶段,研究地面滑跑起降阶段的动力学特性对于无人机抗侧风特性摸底和纠偏控制律设计优化具有重要意义。基于轮胎侧向力模型、弹性轮胎和刚性机体假设,在Matlab平台建立地面滑跑阶段全量非线性模型和纠偏控制模型,综合分析发动机扭矩与侧风等工况下滑跑起飞和着陆过程中的响应特性,并对比分析两种不同纠偏控制模型下的纠偏性能和抗侧风特性。结果表明:该仿真模型能够反映无人机滑跑起降阶段的动力学特性,改进后的纠偏控制模型能够大幅缩短滑跑起飞距离,并且可以较好地实现纠偏控制。Ground taxiing is an important stage in the flight process of wheeled UAV,the dynamic characteristics of ground taxiing is of great significance for finding out the anti-crosswind characteristics and optimizing the rectifica⁃tion control.Based on the assumption of tire lateral force model,elastic tire and rigid body,a whole nonlinear math⁃ematical and rectification control scheme model is established in the Matlab environment.The engine torque and crosswind conditions are analyzed,and two different rectification control schemes are compared in addition.The simulation results show that the model can reflect the dynamic characteristic of ground taxiing,also the improved control scheme can shorten the takeoff distance and achieve better rectification performance.

关 键 词：无人机 滑跑起降 纠偏控制模型 纠偏性能 抗侧风特性 

分 类 号：V212.13[航空宇航科学与技术—航空宇航推进理论与工程] V279