摘要
无人机在地面滑跑阶段的运动特性与空中飞行阶段不同,建立无人机在这一阶段的数学模型,对进一步研究实现无人机安全的自动起降有重要意义。以飞翼布局无人机为研究对象,对其进行详细的受力分析,建立了地面滑跑阶段的非线性数学模型;采用主轮不对称刹车与阻力方向舵协调控制的方案进行无人机滑跑时的航向控制,并在Matlab/Simulink平台上进行仿真,由仿真结果表明模型可用。
The UAV has the unique dynamical characteristics in ground motion different from that of flight in the air. Establishing the mathematics model in this stage is important to realizing the safe take off and landing of UAV. As regards a flying-wing UAV, on which the strength pressed was analyzed, a nonlinear modal on ground motion was established. And the lateral control law of UAV ground sliding was designed using rear wheel dissymmetry braking and resistance rudder control in line. With the simulation environment of Matlab/Simulink, a simulation system was designed. The simulated result shows that the model can be used.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2008年第24期6759-6762,共4页
Journal of System Simulation
关键词
无人机
滑跑
数学模型
航向控制
仿真
UAV
ground sliding
mathematical model
direction controlling
simulation
