Ground and Flight Tests of an Unmanned Rotorcraft with Cable-Driven Robotic Landing Gear

IF 1.4 4区工程技术 Q2 ENGINEERING, AEROSPACE

Journal of the American Helicopter Society Pub Date : 2021-01-01 DOI:10.4050/jahs.66.042003

Benjamin L. Leon, J. Rimoli, Claudio V. Di Leo

引用次数: 1

Abstract

Robotic landing gear enhances the landing capabilities of vertical take-off and landing aircraft on sloped, rough, and even moving landing surfaces. This research demonstrates the integration and systematic testing of a robotic landing gear system for the commercial S-100 Camcopter, expanding the aircraft’s landing capabilities to currently inaccessible terrains with slopes at and above 15°. An overview of the mechanical design, sensors, and controller as integrated into the S-100 rotorcraft is provided along with expected landing performance from simulations tools. The system is then demonstrated using ground and flight experiments, and performance metrics are found to match design metrics. An asymmetry in left and right leg landings during flight testing is observed and analyzed. Lastly, cross-coupling of pitch and roll rates induced by the rotor is discussed as a cause of the asymmetry on this three-legged rotorcraft.

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缆索驱动机器人起落架无人旋翼机的地面和飞行试验

机器人起落架提高了垂直起降飞机在倾斜、粗糙甚至移动着陆面上的着陆能力。该研究展示了商用S-100 Camcopter机器人起落架系统的集成和系统测试，将飞机的着陆能力扩展到目前难以进入的坡度在15°及以上的地形。概述了集成到S-100旋翼机中的机械设计、传感器和控制器，并提供了模拟工具的预期着陆性能。然后使用地面和飞行实验对系统进行了演示，并发现性能指标与设计指标相匹配。对飞行试验中左右腿着地不对称现象进行了观察和分析。最后，讨论了由旋翼引起的俯仰和横摇速率的交叉耦合是导致该三足旋翼机不对称的原因。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of the American Helicopter Society 工程技术-工程：宇航

CiteScore

4.10

自引率

33.30%

发文量

审稿时长

>12 weeks

期刊介绍： The Journal of the American Helicopter Society is a peer-reviewed technical journal published quarterly (January, April, July and October) by AHS — The Vertical Flight Society. It is the world''s only scientific journal dedicated to vertical flight technology and is available in print and online. The Journal publishes original technical papers dealing with theory and practice of vertical flight. The Journal seeks to foster the exchange of significant new ideas and information about helicopters and V/STOL aircraft. The scope of the Journal covers the full range of research, analysis, design, manufacturing, test, operations, and support. A constantly growing list of specialty areas is included within that scope. These range from the classical specialties like aerodynamic, dynamics and structures to more recent priorities such as acoustics, materials and signature reduction and to operational issues such as design criteria, safety and reliability. (Note: semi- and nontechnical articles of more general interest reporting current events or experiences should be sent to the VFS magazine