多连杆混联仿生腿式起落架设计与着陆实验研究

针对垂直起降飞行器对着陆场地的硬度及平整性要求高、传统起落架智能化程度低的问题,设计了一种基于多连杆混联机构的仿生腿式地形自适应起落架。本文首先针对单腿的设计构型进行驱动力矩分析与机构优化,在此基础上完成结构设计。其次基于设计构型提出了相应的驱动与运动控制算法,建立控制系统,并针对四腿机构进行着陆仿真。最后以多旋翼无人机为对象,设计了一套仿生起落架系统,与多旋翼无人机形成了整体的验证平台,实现地形识别-飞控-多腿控制融合设计,完成了搭建结构化地形的自适应着陆实验。研究结果表明,多连杆混联式仿生起落架设计方法可应用于垂直起降飞行器起落架的设计中,可完成设计载重的斜坡、台阶、凹凸地面等复杂地形的着陆,具备自适应着陆的能力。

Design of Multi-link Hybrid Bionic landing gear and Landing Test

Aiming at the problems of vertical aircraft requiring high rigidity and flatness of landing site, and low intelligence of traditional landing gear,a terrain adaptive landing gear is designed based on multi-link hybrid bionic leg structure. Firstly, the design configuration of the bionic leg is given based on the drive torque analysis and optimization, for finishing structure design. Then, the corresponding driving and motion control algorithms are proposed based on the design con-figuration, and the control system is established, and landing simulation results of four-legged system are given. Finally, a bionic landing gear system was designed based on the multi-rotor UAV, and it forms an integrated verification platform with the multi-rotor UAV. The fusion design of terrain recognition-flight control-leg control was realized, and the adaptive test of structured terrain was completed. The research results show that the design method of terrain adaptive landing gear with bionic leg structure can be applied to the design of vertical aircraft landing gear, for realizing the ability to land adaptively on complex terrain such as slopes, steps, and uneven ground.