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
相关论文
共 50 条
  • [31] Research and Analysis of Coulomb Friction in Landing Gear Shimmy
    Ruan, Shuang
    Zhang, Ming
    Nie, Hong
    JOURNAL OF AIRCRAFT, 2024, 61 (04): : 1143 - 1154
  • [32] Aircraft Landing Gear of a Dynamic Research and Computer Simulation
    Li, Shen-shou
    Liu, Xiao-ming
    Zhu, Zhong-gan
    Yang, Fang
    MANUFACTURING SCIENCE AND TECHNOLOGY, PTS 1-8, 2012, 383-390 : 2426 - 2429
  • [33] TOPICS IN LANDING GEAR DYNAMICS RESEARCH AT NASA LANGLEY
    MCCOMB, HG
    TANNER, JA
    JOURNAL OF AIRCRAFT, 1988, 25 (01): : 84 - 93
  • [34] Development and research of Sony four-legged robot soccer game
    Song, Xiao-Kang
    Su, Li-Ying
    Xu, Dong-Lai
    Yu, Yue-Qing
    Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2004, 21 (SUPPL.): : 87 - 92
  • [35] EXPERIMENTAL RESEARCH ABOUT DYNAMICS BEHAVIOUR OF LANDING GEAR
    Bogdan, Constantin
    Bogdan, Mihaela Liana
    Popa, Dragos
    Gherghina, George
    ANNALS OF DAAAM FOR 2008 & PROCEEDINGS OF THE 19TH INTERNATIONAL DAAAM SYMPOSIUM, 2008, : 119 - 120
  • [36] Adaptive landing gear: Optimum control strategy and potential for improvement
    Mikulowski, Grzegorz
    Jankowski, Lukasz
    SHOCK AND VIBRATION, 2009, 16 (02) : 175 - 194
  • [37] Nose Landing Gear Simple Adaptive Shimmy Suppression System
    Orlando, Calogero
    JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2020, 43 (07) : 1298 - 1312
  • [38] Numerical simulation and experimental research of spectral noise characteristics for the four-wheel landing gear
    Li, Ting
    Zhang, Jin-hua
    Wang, Bao-zeng
    Xue, Tao
    JOURNAL OF VIBROENGINEERING, 2017, 19 (02) : 1428 - 1437
  • [39] Adaptive landing gear: optimum control strategy and improvement potential
    Jankowski, Lukasz
    Mikulowski, Grzegorz
    PROCEEDINGS OF ISMA2006: INTERNATIONAL CONFERENCE ON NOISE AND VIBRATION ENGINEERING, VOLS 1-8, 2006, : 397 - +
  • [40] Adaptive biologically inspired control for the four-legged walking machine BISAM
    Ilg, W
    Albiez, J
    Jedele, H
    Berns, K
    Dillmann, R
    PROCEEDINGS OF THE 2ND INTERNATIONAL CONFERENCE ON CLIMBING AND WALKING ROBOTS, CLAWAR 99, 1999, : 809 - 818