无人机起落架电液伺服系统运动控制方法研究  

Research on Motion Control Method of UAV Landing Gear Electro-hydraulic Servo System

作　　者：王朋飞 王志广 WANG Peng-fei;WANG Zhi-guang(College of General Aviation,Xi'an Aeronautical Polytechnic Institute,Xi'an 710089,China)

机构地区：[1]西安航空职业技术学院通用航空学院,陕西西安710089

出　　处：《液压气动与密封》2023年第6期59-62,共4页Hydraulics Pneumatics & Seals

基　　金：西安航空职业技术学院创新团队项目-无人机贴近摄影测量技术创新研究(KJTD21-001)。

摘　　要：无人机起落架是无人机最重要的承载装置,能够高效的吸收着陆产生的能量,确保无人机安全稳定着陆。针对无人机起落架电液伺服系统运动不稳定的缺陷,在起落架电液伺服系统结构和动力学分析基础上,对电液伺服系统运动稳定性进行影响分析;采用多目标协同控制的稳定控制方法提升电液伺服系统运动稳定性;最后在已构建的电液伺服系统运动控制试验环境中验证运动控制方法的可靠性和稳定性。整个电液伺服系统运动控制未出现超调现象,高效提升了运动系统的稳定性。The landing gear of UAV is the most important bearing device of UAV,which can efficiently absorb the energy generated by landing and ensure the safe and stable landing of UAV.In view of the unstable movement of the electro-hydraulic servo system of the landing gear of UAV,the impact analysis on the movement stability of the electro-hydraulic servo system is conducted based on the structure and dynamics analysis of the landing gear electro-hydraulic servo system,The stability control method of multi-objective cooperative control is adopted to improve the motion stability of the electro-hydraulic servo system.Finally,the reliability and stability of the motion control method are verified in the built electro-hydraulic servo system motion control test environment.The motion control of the entire electro-hydraulic servo system does not appear overshoot,and the stability of the motion system is effectively improved.

关 键 词：无人机 起落架 电液伺服系统 多目标协同 运动控制 稳定性 

分 类 号：TH137[机械工程—机械制造及自动化]