| 无人机地面运动的动力学建模及仿真 |
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| 引用本文： | 关永亮,侯玉秀,贾宏光,刘波,马伍元. 无人机地面运动的动力学建模及仿真[J]. 兵工学报, 2014, 35(7): 1021-1026. DOI: 10.3969/j.issn.1000-1093.2014.07.013 |
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| 作者姓名： | 关永亮 侯玉秀 贾宏光 刘波 马伍元 |
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| 作者单位： | (1.长春理工大学 机电工程学院， 吉林 长春 130022; |
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| 基金项目： | 中国科学院知识创新工程国防科技创新重要方向项目(YYYJ-1122) |
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| 摘 要： | 采用弹性轮胎理论，建立了前三点式无人机地面运动的动力学模型。该模型考虑地面运动过程中无人机所要承受的来自地面、空气以及自身的作用力，描述了无人机的地面运动过程。采用某一型号无人机的参数进行仿真，在仿真结果中提取无人机地面运动过程中前轮侧向力、主轮侧向合力和左、右主轮地面支持力4个关键数据，通过对这些数据进行分析，提出无人机地面运动动力学模型的约束条件，并得到了无人机地面运动的可行域。
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| 关 键 词： | 航空、航天科学技术基础学科 无人机 轮胎 地面运动 仿真 |
| 收稿时间： | 2013-09-28 |
Dynamic Modeling and Simulation of UAV Ground Maneuvers |
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| GUAN Yong-liang,HOU Yu-xiu,JIA Hong-guang,LIU Bo,MA Wu-yuan. Dynamic Modeling and Simulation of UAV Ground Maneuvers[J]. Acta Armamentarii, 2014, 35(7): 1021-1026. DOI: 10.3969/j.issn.1000-1093.2014.07.013 |
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| Authors: | GUAN Yong-liang HOU Yu-xiu JIA Hong-guang LIU Bo MA Wu-yuan |
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| Affiliation: | (1.College of Mechanical and Electric Engineering, Changchun University of Science and Technology,2.Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, Jilin, China) |
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| Abstract: | A dynamic model of tricycle-undercarriage-UAV ground maneuvers is established using elastic tire theory. With full consideration of loads applied to UAV, the model can describe the process of the UAV ground maneuvers exactly. The simulation is based on a series of parameters of a real UAV. The constraints are put forward by analyzing some data from simulation, which affect the ground maneuvers of UAV. At last, the available range of UAV ground maneuvers is given. |
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| Keywords: | basic disciplines of aerospace and technology UAV tire ground maneuver simulation |
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