【摘要】 作为着陆过程的一个阶段,无人机在三轮着地滑行时的运动特性与空中飞行时的特性,以及仅主轮着地滑行时的运动特性有所不同。以国产某型号无人机为背景,根据牛顿第二定律对这一阶段建立了全量非线性模型,由于没有对刚体运动模型和气动数据做线性化处理,因此该模型比较准确反映该无人机的实际运行特性。在MATLAB/SIMULINK仿真环境下设计了该模型的仿真系统,仿真结果表明模型可用。更多还原

【Abstract】 During one of the phases of landing, UAV with all wheels in ground motion has unique dynamical characteristics different from that of flight and that of only main wheels in ground motion. As regards a certain type of domestic UAV, a whole nonlinear model is established according to Newton抯 second law. Because the dynamic model of rigid body and aerodynamic data are not linearized, this nonlinear model almost accurately represents the actual dynamical characteristics of the UAV. With the simulation environment of MATLAB/SIMULINK, a simulation system is designed and the simulation result proves the model to be usable.更多还原