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Research on Ground Motion Modeling and Controlling of 4-Wheel UAV

Author: LuoDong
Tutor: GongHuaJun
School: Nanjing University of Aeronautics and Astronautics
Course: Navigation,Guidance and Control
Keywords: UAV Ground motion Coupling coefficient Slip rate Sliding Mode Control
CLC: V249.1
Type: Master's thesis
Year: 2008
Downloads: 160
Quote: 1
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Abstract


Four points of a certain type of landing gear layout UAV as the research object , the main task is to study the UAV ground motion , and the design of effective control method to stabilize the the UAV ground motion when heading to ensure that the ground slippery run security . Around the main task of this paper is mainly to do the work of the four areas . One is to establish a mathematical model of the UAV ground motion ; designed for model a variety of ground motion heading control law ; landing slip during braking control law is designed ; model and control law the simulation. UAV model , fully taking into account various factors such as friction , lateral forces and angular rate , four UAV ground roll motion characteristics and the forces conducted a comprehensive analysis and research . Design heading control law , the use of the PID, fuzzy PID and neural network control method , and various control methods were compared . Anti-skid control study , using a sliding mode control method based on optimal slip rate , the design control law to consider the impact of unmanned aerial vehicle speed and road conditions . Created in MATLAB / SIMULINK simulation system simulation, the simulation results show that : 1, the establishment of the UAV ground motion mathematical model is correct ; 2 , heading control law can better control the UAV ground motion heading neural network control method optimum effect ; 3 , anti-skid control law has played a good non-slip effect , while the UAV to obtain the maximum braking force , to obtain the best braking effect .

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CLC: > Aviation, aerospace > Aviation > Aircraft instrumentation,avionics, flight control and navigation > Flight control system and navigation > Flight control
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