This paper proposes a method to investigate into helicopter landing on uneven terrain by means of using a scaled articulated robotic landing gear. A mathematical model of an articulated robotic landing gear that adapts to uneven ground conditions is considered. The model consists of a planar landing gear composed of two legs connected by a base and a skid at each end. Each skid has two degrees of freedom with PID joint controllers to provide stability while landing. A combination of Lagrange and Newton-Euler techniques is used to model the system dynamics. This work also includes a model of the ground interaction, a thrust controller and a level controller to maintain stability while landing. Experimental results with a laboratory-build scaled prototype are included and compared with the simulations.
Modelling and control of helicopter robotic landing gear for uneven ground conditions
01.10.2017
528290 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Auxiliary device for landing of helicopter on uneven ground
Europäisches Patentamt | 2024
|Engineering Index Backfile | 1953
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