Research on Landing Stability of Four-Legged Adaptive Landing Gear for Multirotor UAVs

被引:5
|
作者
Ni, Xinlei [1 ,2 ]
Yin, Qiaozhi [1 ,2 ,3 ]
Wei, Xiaohui [1 ,2 ,3 ]
Zhong, Peilin [1 ,2 ]
Nie, Hong [1 ,2 ,3 ]
机构
[1] Nanjing Univ Aeronaut & Astronaut, State Key Lab Mech & Control Mech Struct, Nanjing 210016, Peoples R China
[2] Nanjing Univ Aeronaut & Astronaut, Key Lab Fundamental Sci Natl Def Adv Design Techno, Nanjing 210016, Peoples R China
[3] Nanjing Univ Aeronaut & Astronaut, Natl Key Lab Rotorcraft Aeromech, Nanjing 210016, Peoples R China
基金
中国国家自然科学基金; 中国博士后科学基金;
关键词
adaptive landing gear; multibody dynamics; drop test simulation; landing stability; ROSETTA LANDER PHILAE;
D O I
10.3390/aerospace9120776
中图分类号
V [航空、航天];
学科分类号
08 ; 0825 ;
摘要
Rotorcraft Unmanned Aerial Vehicles (UAVs) often need to take off and land under complex working conditions. The rugged terrains may cause the UAV to tilt during takeoff and landing and even cause rollover and other accidents in severe cases. In this paper, a new four-legged landing gear of multirotor UAVs with a passive cushioning structure is designed, aiming at the landing stability requirement of rotorcraft UAVs in complex terrains. The mathematical model of the landing gear dynamics is established in MATLAB/Simulink, and the drop test simulation is carried out under different landing terrain conditions. By comparing the simulation results of the drop test multibody dynamic model in Simcenter3D dynamics software, the adaptive landing and cushioning capacity of the landing gear and the accuracy of the mathematical model are verified. Combined with the landing stability criterion and control strategy of adaptive landing gear adjustment, the landing stability of adaptive landing gear under different slope angles of landing surface and horizontal velocities is studied. The landing stability boundary under different combinations of these two parameters is found.
引用
收藏
页数:14
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