自适应起落架多传感器协同控制系统  

Adaptive landing gear multi-sensor cooperative control system

作　　者：金映丽[1] 刘雨时 闫明[1] 王鹏[1] JIN Yingli;LIU Yushi;YAN Ming;WANG Peng(Liaoning Province Impact Protection and Damage Assessment Technology Engineering Research Center,Shenyang University of Technology,Shenyang 110870,Liaoning,China)

机构地区：[1]沈阳工业大学辽宁省冲击防护与损伤评估技术工程研究中心,辽宁沈阳110870

出　　处：《沈阳工业大学学报》2023年第6期666-671,共6页Journal of Shenyang University of Technology

基　　金：国防科技创新特区项目(20-163-00-TS-006-002-01);辽宁省博士科研启动基金项目(2021-BS-148)。

摘　　要：针对现阶段直升机滑撬式及三点式起落架在复杂地形或动态非线性运动平台降落性能较差的问题,提出了一种基于STM32的X型腿式布局线缆驱动自适应起落架。结合自适应起落架结构特点及控制硬件搭建多维感知协同控制系统,以姿态控制为例对算法进行说明并在仿真环境中进行可行性验证。实验结果表明,自适应起落架及协同控制系统能够实现在多种工况斜坡及崎岖路面的平稳安全降落。Aiming at the problem of poor landing performance of helicopter skid and three-point landing gear on complex terrain or dynamic nonlinear moving platform,an adaptive landing gear based on STM32 with X-leg layout and cable drive was proposed.Combined with the adaptive landing gear structure characteristics and control hardware,the multi-dimensional sensing cooperative control system was built.The attitude control algorithm was illustrated and verified in the simulation environment.The experimental results show that the adaptive landing gear and the cooperative control system can achieve a stable and safe landing on slopes and rough roads under various working conditions.

关 键 词：自适应起落架 X型腿式 线缆驱动 动态非线性 多维感知 协同控制 姿态控制 STM32模块 

分 类 号：TH113.1[机械工程—机械设计及理论]