小型电动无人机手抛过程动力学仿真研究

摘要

Boundary conditions limits in hand-throwing process of a motor-driven UAV are quite vital to the Mini-UAV’s launching. By constructing motor-driven Mini-UAV simulation platform, including a motor-driven Mini-UAV six degrees of freedom nonlinear dynamic model,flight control system model,engine model,gravity model ,standard atmosphere model,control command model,servo-motor model,hand-throwing initial state model ,cross wind model simulations are carried out in Matlab/simulink to obtain the Mini-UAV’s initial safely launching condition of hand-throwing process. Results demonstrate that boundary conditions provide important reference for safely hand-throwing process.%小型电动无人机手抛阶段，初始状态限制边界条件的确定对于实现无人机的安全发射至关重要。以某小型电动无人机为研究对象，在Matlab/simulink中建立电动无人机仿真平台，其中包含无人机六自由度非线性力学模型、飞行控制系统模型、发动机模型、重力模型、标准大气模型、操纵指令模型、舵机模型、手抛初始状态模型、侧风模型等。通过仿真各种手抛初始状态来分析研究电动无人机手抛阶段安全发射的初始条件。仿真结果表明：限制边界条件的确定为无人机手抛发射提供重要参考依据，在边界条件内即可实现无人机安全发射。