基于凯恩方程的无人机伞降回收动力学建模与仿真

In the UAV parachute recovery process, the UAV and parachute are always in real-time dynamic balance state, and the coupling relationship between the two in the parachute recovery process is very complicated, so it is difficult to establish accurate dynamics model of UAV parachute recovery. For solving this problem, the UAV parachute recovery system was divided into the parachute and UAV, and the dynamics model of the parachute was established by the relationship between the drag area and the inflating time. First, based on the method of multibody dynamics, the UAV was divided into a multibody system, including the left wing, right wing and fuselage, and its high angle of attack dynamics model was optimized by the coefficient of flow around a flat plate. Second, the models of each body were introduced into the center of mass of the entire parachute recovery system by the partial velocity matrices. Finally, based on Kane equation, a six-degree-of-freedom model of the parachute recovery system was derived and established and the effects of the altitude and wind on the parachute recovery system dynamics were considered. Through the comparison of numerical simulation and experimental data, it is found that the two have good consistency, and this dynamics model can provide guidance for the UAV parachute recovery.