摘要
采用当前方法对无人机起落架的柔性变形进行缓冲控制时,控制所用的时间较长,控制结果的偏差较大,存在控制效率低和控制误差率高的问题。提出小型无人机起落架柔性变形缓冲控制方法,在模态分析理论的基础上调整刚度矩阵得到小型无人起落架相关的模态数据,对模态数据做简化处理,利用处理后的模态数据构建小型无人机起落架系统的振动微分方程,根据振动微分方程研究小型无人机起落架的动力学特性。根据分析结果,设定约束条件和设计参数,构建起落架柔性变形缓冲控制模型,结合布谷鸟算法和粒子群算法对起落架柔性变形缓冲控制模型进行求解,实现小型无人机起落架柔性变形的缓冲控制。仿真结果表明,所提方法的控制误差率低、控制效率高。
When the current method is used to buffer the flexible deformation of the unmanned aerial vehicle landing gear,the control takes a long time,the deviation of the control result is large,and there is a problem of low control efficiency and high control error rate.The flexible deformation buffer control method for small UAV landing gear is proposed.Based on the modal analysis theory,the stiffness matrix was adjusted to obtain the modal data related to the small unmanned landing gear.The modal data were simplified and the processed modal was used.The data were used to construct the vibration differential equation of the small UAV landing gear system,and studied the dynamic characteristics of the small UAV landing gear according to the vibration differential equation.According to the analysis results,the constraint conditions and design parameters were set up,the flexible deformation buffer control model of the landing gear was constructed,and the flexible deformation buffer control model of the landing gear was solved by combining the cuckoo algorithm and the particle swarm algorithm to realize the flexible deformation of the small UAV landing gear.Buffer control.The simulation results show that the proposed method has low control error rate and high control efficiency.
作者
李晓江
LI Xiao-jiang(Zhonghuan Information College Tianjin University Of Technology,Tianjin 300380,China)
出处
《计算机仿真》
北大核心
2020年第11期23-26,70,共5页
Computer Simulation
