仿生四足六旋翼无人机自适应着陆性能分析  

Analysis of adaptive landing performance of bionic four-legged hexacopter UAV

作　　者：周乐 尹乔之[1,2] 魏小辉[1,3] 孙文宇 梁伟华 聂宏[1,2] ZHOU Le;YIN Qiaozhi;WEI Xiaohui;SUN Wenyu;LIANG Weihua;NIE Hong(Key Laboratory of Fundamental Science for National Defense-Advanced Design Technology of Flight Vehicle,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;National Key Laboratory of Helicopter Aeromechanics,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;State Key Laboratory of Mechanics and Control for Aerospace Structures,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学飞行器先进设计技术国防重点学科实验室,南京210016 [2]南京航空航天大学直升机动力学全国重点实验室,南京210016 [3]南京航空航天大学航空航天结构力学及控制全国重点实验室,南京210016

出　　处：《航空工程进展》2024年第3期45-51,70,共8页Advances in Aeronautical Science and Engineering

基　　金：国家自然科学基金(52375102,52275114);教育部“春晖计划”合作科研项目(HZKY20220126);中国博士后科学基金资助项目(2021M691565);中央高校基本科研业务费专项资金资助项目(NS2023005);航空科学基金(202000410520002);南京航空航天大学前瞻布局科研专项资金资助;国防卓越青年基金(2018-JCJQ-ZQ-053);江苏高校优势学科建设工程资助项目。

摘　　要：旋翼无人机在民用和军用领域被广泛应用,但传统橇式起落架在复杂地形下难以起降,为了扩大旋翼无人机的降落面积和应用范围,设计一种仿人腿式两级缓冲自适应起落架。通过对仿生腿的正逆运动学分析,提出一种自适应起落架姿态调整策略;建立仿生四足六旋翼无人机着陆动力学模型,基于多体动力学软件simcenter 3D开展着陆动力学仿真,并与传统橇式起落架进行着陆性能对比研究。结果表明:着陆腿式的两级缓冲自适应起落架及其姿态调整策略,能够使滚转角减小95.69%,过载系数降低34.06%,两级缓冲自适应起落架在面对复杂地形时具备主动调节姿态安全着陆的地形适应能力和极好的减震缓冲能力。The classic sled-type landing gear is difficult to take off and land in challenging terrain,with the wide⁃spread usage of rotor unmanned aerial vehicle(UAV)in both civil and military domains.A two-stage buffered adaptive landing gear similar to a human leg is designed to increase the landing area and application range of rotor UAV.An adaptive landing gear attitude adjustment strategy is proposed by analyzing the positive and negative kine⁃matics of the bionic leg.A bionic four-legged hexacopter UAV landing dynamics model is established,the landing dynamics simulation is carried out using the multi-body dynamics software simcenter 3D,and the model is com⁃pared with the conventional sled landing gear.The results show that the two-stage cushioned adaptive landing gear in the landing leg style and its attitude adjustment strategy can reduce the roll angle by 95.69%and overload coeffi⁃cient by 34.06%.The two-stage cushioned adaptive landing gear has excellent shock absorption and cushioning ca⁃pability in complex terrain.

关 键 词：旋翼无人机 仿生着陆腿 自适应起落架 着陆动力学 

分 类 号：V279[航空宇航科学与技术—飞行器设计]