【摘要】 故障无人机地面滑跑起飞时的运动特性与正常无人机不同。描述了无人机两轮起飞滑跑的过程,通过详细分析方向舵卡死在固定角度时,无人机两轮滑跑的受力情况,建立了纵向和侧向的非线性动力学方程。并在此基础上通过无人机的安全起飞要求和最小离地速度,确定了使无人机可控的方向舵最大卡死角度。最后以某型飞机为例进行计算,结果证明本文分析的有效性。为故障无人机起飞安全提供了理论依据,对控制律的设计具有重要的指导作用。更多还原

【Abstract】 In the course of taxiing takeoff,the faulty UAV has the unique dynamical characteristics in ground motion different from normal UAV.The process of a UAV during two-wheel take off and taxiing is described,the strength pressed on the UAV in the course of two-wheel taxiing is analysed when rudder is locked in place,and the longitudinal and the lateral dynamic equations are established.The authority of rudder finite locking is determined through the safety take-off requirement and the minimum lift off speed.Finally,this paper takes a certain pilotless aircraft for example,and the calculation results prove the effectiveness of this paper.It proves theoretical basis for safety takeoff of the faulty UAV and has an important guidance function to the designing of control law.更多还原