摘要
[目的]为解决旋翼无人机在海上无人平台应用时的自主安全着舰问题,开展旋翼无人机着舰装置及其安全评估方法研究.[方法]以多旋翼无人机为对象,基于"鱼叉-格栅"式助降装置原理,设计一种新型的"V形足-网"式着舰装置.建立无人机和甲板的多刚体动力学模型,通过ADAMS在不同横摇幅值和周期条件下开展着舰过程仿真,得到无人机着舰的姿态变化过程、着舰临界周期和稳定时间.[结果]仿真结果显示,相比普通着舰装置,"V形足-网"装置具备更高的对接冗余度,可适应更小的横摇周期和更大的横摇幅值,并可更快达到姿态稳定.[结论]研究表明,所设计的装置相比普通装置安全性更优异,通过仿真得到的装置安全边界,可为无人机着舰控制提供参考依据,进而提高无人机在海上平台的自主着舰可靠性.
Abstract
[Objective]To solve the problem of the autonomous and safe landing of multi-rotor unmanned aerial vehicles(UAVs)in the application of unmanned platforms at sea,this paper studies multi-rotor UAV landing devices and their safety boundary assessment methods.[Method]Based on the idea of the"Harpoon-Grid"rapid securing system,a new type of"V-foot-net"landing device is designed for multi-rotor UAVs.Multi-rigid body dynamic models of the UAV and deck are established,and simulations of the landing pro-cess are carried out using ADAMS under different rolling amplitudes and period conditions to obtain the atti-tude change process,landing critical period and attitude stabilization time of the UAV.[Results]The simu-lation results show that the proposed"V-foot-net"device has higher docking redundancy under a smaller rolling period and larger rolling amplitude,and achieves attitude stability faster than ordinary landing devices.[Conclusion]The results show that this device has superior safety compared to ordinary devices,and its safety boundary obtained through simulation can provide valuable references for improving the reliability of the autonomous landing of UAVs on offshore platforms.
维普
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