| Citation: | KONG D X，YIN Q Z，SONG J Y，et al. Research on turning directional stability of taxiing with changing speed for high-speed UAV[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（12）：3476-3488 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0159
|
High-speed UAV is prone to spin out of control, veer off the runway, and other major incidents because of the influence of numerous nonlinear elements such tire forces, aerodynamic forces, and rudder surface forces during the ground taxiing process. At present, the bifurcation is used to analyze the stability of aircraft ground taxiing nonlinear turning system, which is based on the equilibrium system of constant speed taxiing system. And it is impossible to analyze the influence of acceleration and deceleration on the stability of nonlinear non-autonomous aircraft ground taxiing systems by this theory. Thus, the D’Alembert principle is used to transform the nonlinear dynamic system into an equivalent nonlinear equilibrium system to study the bifurcation characteristics. To convert the system into an analogous equilibrium system, inertia force is incorporated into the system model based on the D’Alembert principle, and the nonlinear ground variable speed taxiing dynamics model of the UAV is built in MATLAB/Simulink. Then the global stability and bifurcation characteristics of the system are solved by the numerical continuation method, and the effect of acceleration on the stability of the turning direction is analyzed, and the saddle-node bifurcation and Hopf bifurcation in the system are analyzed. The motion states and forces of the UAV under three typical operating conditions are also analyzed, and the nature and mechanism of the directional instability of the UAV during the turning of ground variable speed sliding are revealed. Finally, based on the single-parameter bifurcation analysis of acceleration, the front wheel steering angle is introduced as an additional parameter into the UAV ground taxiing dynamic model by using the open folding method, and the dual-parameter bifurcation analysis is carried out to discuss the influence of two parameters on the stability of ground taxiing direction. And the phenomena of BT bifurcation, GH bifurcation, and ZH bifurcation on the stability of the ground taxiing direction of UAV is discussed.
| [1] |
王勇, 王英勋. 无人机滑跑纠偏控制[J]. 航空学报, 2008, 29(S1): 142-149.
WANG Y, WANG Y X. Lateral deviation correction control for UAV taxiing[J]. Acta Aeronautica et Astronautica Sinica, 2008, 29(S1): 142-149(in Chinese).
|
| [2] |
LI Y, JIAO Z X, SHANG Y X. Research on aircraft taxiing lateral control based on fuzzy controller[C]// Proceedings of 2011 International Conference on Fluid Power and Mechatronics. Piscataway: IEEE Press, 2011: 582-587.
|
| [3] |
DEL CARRE A, PALACIOS R. Simulation and optimization of takeoff maneuvers of very flexible aircraft[J]. Journal of Aircraft, 2020, 57(6): 1097-1110. doi: 10.2514/1.C035901
|
| [4] |
XU F, REN X Q, ZHANG X P, et al. Decreasing effectiveness of chine tire on contaminated runway at high taxiing speed[J]. Journal of Aircraft, 2020, 57(2): 198-208. doi: 10.2514/1.C035293
|
| [5] |
苏光旭, 张登成, 张艳华, 等. 舵面偏转对飞机着陆滑跑性能影响研究[J]. 飞行力学, 2020, 38(4): 1-6. doi: 10.13645/j.cnki.f.d.20200312.003
SU G X, ZHANG D C, ZHANG Y H, et al. Study of the influence of rudder deflection on aircraft landing and running performance[J]. Flight Dynamics, 2020, 38(4): 1-6(in Chinese). doi: 10.13645/j.cnki.f.d.20200312.003
|
| [6] |
范大旭, 李秀娟, 李春涛, 等. 大展弦比无人机地面滑跑动力学建模与分析[J]. 兵工自动化, 2018, 37(10): 70-76. doi: 10.7690/bgzdh.2018.10.015
FAN D X, LI X J, LI C T, et al. Modeling and analysis of ground dynamics of high aspect ratio UAV[J]. Ordnance Industry Automation, 2018, 37(10): 70-76(in Chinese). doi: 10.7690/bgzdh.2018.10.015
|
| [7] |
SONG L, YANG H, YAN X F, et al. A study of instability in a miniature flying-wing aircraft in high-speed taxi[J]. Chinese Journal of Aeronautics, 2015, 28(3): 749-756. doi: 10.1016/j.cja.2015.04.001
|
| [8] |
DONG H, LI D C, XIANG J W, et al. Longitudinal short period flight quality analysis of flexible aircraft[C]//Proceedings of 2016 IEEE Chinese Guidance, Navigation and Control Conference. Piscataway: IEEE Press, 2016: 2903-2907.
|
| [9] |
KRAUSKOPF B, OSINGA H. Numerical continuation methods for dynamic systems[M]. Berlin: Springer, 2007: 18-22.
|
| [10] |
许多生, 陆启韶. 飞机滚转时惯性耦合运动的分岔分析[J]. 航空学报, 2001, 22(2): 144-147. doi: 10.3321/j.issn:1000-6893.2001.02.003
XU D S, LU Q S. Bifurcation analysis of inertia cross coupling in aircraft rolling[J]. Acta Aeronautica et Astronautica Sinica, 2001, 22(2): 144-147(in Chinese). doi: 10.3321/j.issn:1000-6893.2001.02.003
|
| [11] |
YIN Y, NEILD S A, JIANG J Z, et al. Optimization of a main landing gear locking mechanism using bifurcation analysis[J]. Journal of Aircraft, 2017, 54(6): 2126-2139. doi: 10.2514/1.C034228
|
| [12] |
陈大伟, 顾宏斌, 刘晖. 起落架摆振主动控制分岔研究[J]. 振动与冲击, 2010, 29(7): 38-42. doi: 10.3969/j.issn.1000-3835.2010.07.009
CHEN D W, GU H B, LIU H. Active control for landing gear shimmy with bifurcation theories[J]. Journal of Vibration and Shock, 2010, 29(7): 38-42(in Chinese). doi: 10.3969/j.issn.1000-3835.2010.07.009
|
| [13] |
YIN Q Z, WEI X H, NIE H, et al. Parameter effects on high-speed UAV ground directional stability using bifurcation analysis[J]. Chinese Journal of Aeronautics, 2021, 34(11): 1-14. doi: 10.1016/j.cja.2020.10.030
|
| [14] |
COETZEE E, KRAUSKOPF B, LOWENBERG M. Continuation analysis of aircraft ground loads during high-speed turns[J]. Journal of Aircraft, 2013, 50(1): 217-231. doi: 10.2514/1.C031883
|
| [15] |
JIAO Z X, ZHANG H, SHANG Y X, et al. A power-by-wire aircraft brake system based on high-speed on-off valves[J]. Aerospace Science and Technology, 2020, 106: 106177. doi: 10.1016/j.ast.2020.106177
|
| [16] |
RANKIN J, COETZEE E, KRAUSKOPF B, et al. Bifurcation and stability analysis of aircraft turning on the ground[J]. Journal of Guidance, Control, and Dynamics, 2009, 32(2): 500-511. doi: 10.2514/1.37763
|
| [17] |
HORIUCHI S, OKADA K, NOHTOMI S. Analysis of accelerating and braking stability using constrained bifurcation and continuation methods[J]. Vehicle System Dynamics, 2008, 46(S1): 585-597. doi: 10.1080/00423110802007779
|
| [18] |
LIEBSCHER S. Bifurcation without parameters[M]. Berlin: Springer, 2015.
|
| [19] |
DE CARVALHO BRAGA D, MELLO L F, ROCŞOREANU C, et al. Control of planar bautin bifurcation[J]. Nonlinear Dynamics, 2010, 62(4): 989-1000. doi: 10.1007/s11071-010-9779-2
|
| [20] |
LIEBSCHER S. Zero-hopf bifurcation[M]. Berlin: Springer, 2014: 103-108.
|
Figures(11) / Tables(1)
Copyright © Journal of Beijing University of Aeronautics and Astronautics
Address: Editorial Department of Journal of Beijing University of Aeronautics and Astronautics, 37 Xueyuan Road, Haidian District, Beijing Post Code: 100191 Email: jbuaa@buaa.edu.cn
Supported by:
Beijing Renhe Information Technology Co., Ltd.
DownLoad:
