无人直升机六足式起落架设计与控制算法  

Design and Control Algorithm for Hexapod Landing Gear of Unmanned Helicopter

作　　者：刘昊林 刘小川[1] 任佳[1] 王计真 董久祥[2] 方正 LIU Haolin;LIU Xiaochuan;REN Jia;WANG Jizhen;DONG Jiuxiang;FANG Zheng(Laboratory of Aero Structures Impact Dynamics,AVIC Aircraft Strength Research Institute,Xi'an,710065;School of Information Science and Engineering,Northeastern University,Shenyang,110004;School of Robot Science and Engineering,Northeastern University,Shenyang,110169)

机构地区：[1]中国飞机强度研究所结构冲击动力学航空科技重点实验室,西安710065 [2]东北大学信息科学与工程学院,沈阳110004 [3]东北大学机器人科学与工程学院,沈阳110169

出　　处：《中国机械工程》2023年第4期421-430,439,共11页China Mechanical Engineering

基　　金：航空科学基金(20184123011)。

摘　　要：无人直升机在作战、巡逻、反潜、救援、运输中发挥极其重要的作用,但是传统起落架形式对起降环境要求较高。针对复杂地形自适应起落、恶劣海况舰面起降和停放以及应急坠撞高生存力等问题,提出了一种基于多连杆机构设计的无人直升机仿生腿式起落架系统,并完成了控制算法研究和建模仿真。首先从仿生腿数量、分布形式、腿部自由度配置和需要完成的功能等方面对仿生腿式起落架机械构型进行分析,并完成了六足式起落架运动学和动力学分析。然后针对仿生腿式起落架自适应着陆过程,完成着陆缓冲和地形建模算法的研究。最后,基于控制算法搭建虚拟样机仿真模型,完成了多种地形的仿真分析和样机测试。研究结果表明,所设计的仿生腿式起落架结构和控制算法可完成动态自适应着陆,实现着陆过程的平稳缓冲。Unmanned helicopter played an extremely important role in combat,patrol,anti-submarine,rescue and transportation,but the traditional landing gear had higher requirements for take-off and landing environment.Aiming at the problems of adaptive take-off and landing on complex terrains,landing and parking on ship surfaces in harsh sea conditions,and improving survivability of emergency collision,a bionic legs landing gear system of unmanned helicopters was proposed based on multi-link mechanism,and the control algorithm was studied and the modeling and simulation were completed.First from bionic legs quantity,distribution form,DOF configuration and needed to complete the function of the legs,the bionic legs landing gear machinery configuration was analyzed,and the kinematics and dynamics analysis of the hexapod landing gears were completed,and then aiming at the adaptive landing processes of the bionic legs landing gear,buffer landing and terrain modeling algorithm were studied.Finally,a virtual prototype simulation model was built based on the control algorithm to effectively complete the landing simulation and prototype test of various terrains.The results show that the design of the bionic legs landing gear structure and control algorithm may achieve dynamic adaptive landing and smooth buffering during the landing processes.

关 键 词：仿生腿 起落装置 构型设计 运动学 动力学 缓冲着陆 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]