Determination of Design Parameters Unmanned Aeral Vehicles with Variable Structure in Flight Using Mathematical Modeling.
Keywords:
mathematical modeling, motion dynamics, system of solids, variable structure, wing warping, unmanned aerial vehicleAbstract
A review of existing approaches to reduce the distance run and a horizontal speed landing unmanned aerial vehicle. In this paper we investigate the dynamics of movement of the unmanned aerial vehicle with a constant angle of wing sweep. Balancing control method used to commit the landing maneuver. Such a control process is carried out by displacing part of the machine, called the load platform relative to the main portion of the apparatus. For the mathematical description of the selected control principle uses dynamic equations of motion of the system of rigid body. Mathematical models of the aerodynamic force coefficients are approximated by trigonometric functions, for use in a wide range of angles of attack. The implementation of the mathematical model of the motion is carried out by means of the library SimMechanics Matlab / Simulink software. Against the background of the overall driving dynamics further discusses the use wing warping to increase the power of resistance in order to reduce the horizontal landing speed. We consider constructive solutions drive wing warping, stand design parameters influencing the driving dynamics of an unmanned aircraft as a whole. It is proposed to consider the following structure of a mathematical model consisting of two parts: a general driving dynamics system of rigid body and the internal dynamics of the drive. This approach allows you to evaluate the impact on the overall dynamics of the movement of unmanned aircraft in flight with a variable structure of the internal dynamics of the drive. In this paper we performed numerical simulations and discuss the results characterizing the operation of the drive. We study kinematic parameters of the drive: the angle of rotation, rotational speed and angular acceleration, as well as the source specified by the control law. The results suggest the feasibility of the proposed approach.References
Vislenjov V.V., Kuz'menko D.V. Teoriya aviatsii [Aviation Theory]. Moscow, Gosudarstvennoe voennoe izdatel'stvo narkomata oborony Soyuza SSR Publ., 1939. 384 p.
Crowther W.J. Perched Landing and Takeoff for Fixed Wing UAVs. NATO AVT Symposium on Unmanned Vehicles for Aerial, Ground and Naval Military Operations 9-13 October 2000 in Ankara, Turkey.
Wickenheiser A.M. Dynamics and Trajectory Optimization of Morfing Aircraft in Perching Maneuvers. PhD Dissertation. Cornell University, 2008.
Cory R.E. Supermaneuverable Perching. PhD dissertation. Massachusetts Institute of Technology, 2010.
Sim Alex G. Flight Characteristics of a Modified Schweizer SGS 1-36 Sailplane at Low and Very High Angles of Attack. NASA TP-3022, H-1563, NAS 1.60:3022, July 1990, 91N10079.
Liliental' O. Polet ptits kak osnova iskusstva letat' [Flight of Birds as the Basis of the Art of Flying]. Moscow; Izhevsk. Institut komp'yuternykh issledovaniy Publ., 2002. 232 p.
Pantileev A.S. [Statement of the Problem of Optimum Landing Approach of the Pilotless Flying Machine with Structure Changed in Flight]. Bulletin of the South Ural State University. Ser. Computer Technology, Management, Electronics, 2010, iss. 13, no. 22(198), pp. 43–46. (in Russ.)
Pantileev A.S. [Numerical and Experimental Study of the Motion of the UAV in Flight with Variable Structure]. 8th International Conference “Aviation and Cosmonautics – 2015”. 16–20 November. Moscow, 2015, pp. 24–25. (in Russ.)
Pantileev A.S. [The Implementation of a Mathematical Model of UAV Motion with Variable in-Flight Structure in MATLAB/SIMULINK/SIMMECHANICS]. Raketno-kosmicheskaya tekhnika: Nauchno-tekhnicheskiy sbornik. Ser. XIV. Raschet, eksperimental'nye issledovaniya i proektirovanie [Rocket and Space Technology: Scientific and Technical Collection. Ser. XIV. Calculation, Design and Experimental
Studies], 2009, iss. 1(56), pp. 231–237. (in Russ.)
Pantileev A.S. [Research Problems of the Dynamics of Motion of the UAV in Flight with a Variable Structure]. Dinamika mashin i rabochikh protsessov: sbornik dokladov Vserossiyskoy nauchno-tekhnicheskoy konferentsii [Dynamics of Machines and Work Processes: a Collection of the All-Russian Scientific and Technical Conference 8–10 December 2009, Chelyabinsk], 2009, pp. 138–140.
(in Russ.)
Pantileev A.S. [Tasks and Mathematical Models of the Motion of Unmanned Aircraft in Flight with a Variable Structure]. Dinamika mashin i rabochikh protsessov: sbornik dokladov Vserossiyskoy nauchno-tekhnicheskoy konferentsii [Dynamics of Machines and Work Processes: a Collection of the
All-Russian Scientific and Technical Conference 10-12 April 2012, Chelyabinsk], 2012, pp. 154–158. (in Russ.)
Menon P., Sweriduk G., Ohlmeyer E., Malyevac D. Integrated Guidance and Control of Moving Mass Actuated Kinetic Warheads. J. Guid. Control Dyn., 2004, 27(1), pp. 118–127.
Woolsey C. A., Leonard N. E. Moving Mass Control for Underwater Vehicles. Proceedings of the American Control Conference, 2002, pp. 2824–2829.
Haug E.J. Computer Aided Kinematics and Dynamics of Mechanical Systems. Vol. 1. Basic Methods. Allyn and Bacon, 1989.
Schiehlen W.O. Multibody System Handbook. Springer-Verlag, 1990.
Vittenburg Y. Dinamika sistem tverdykh tel [The Dynamics of Systems of Solids]. Moscow, Mir Publ., 1980. 292 p.
Wood G.D. Simulating Mechanical Systems in Simulink with SimMechanics. The MathWorks Inc., 2002.
