CN112061381B - Rotorcraft equipped with adaptive landing gear for taking off and landing complex terrain and control method - Google Patents
Rotorcraft equipped with adaptive landing gear for taking off and landing complex terrain and control method Download PDFInfo
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- CN112061381B CN112061381B CN202010884865.4A CN202010884865A CN112061381B CN 112061381 B CN112061381 B CN 112061381B CN 202010884865 A CN202010884865 A CN 202010884865A CN 112061381 B CN112061381 B CN 112061381B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000003044 adaptive effect Effects 0.000 title claims description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 230000008569 process Effects 0.000 claims description 18
- 230000036544 posture Effects 0.000 claims description 10
- 239000003921 oil Substances 0.000 claims description 6
- 230000008602 contraction Effects 0.000 claims description 5
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/26—Control or locking systems therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/34—Alighting gear characterised by elements which contact the ground or similar surface wheeled type, e.g. multi-wheeled bogies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D43/00—Arrangements or adaptations of instruments
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention provides a rotor craft with self-adaptive landing gear for taking off and landing in complex terrain and a control method thereof, wherein a controller, a gyroscope and a propeller are arranged at the top of a craft body, and three landing gears are arranged on the craft body according to a front three-point landing gear layout mode; the first power mechanism of every undercarriage articulates in last connecting rod mid portion, and upward the connecting rod upper end articulates on the aircraft body, and the lower extreme articulates in connecting rod one end down, and second power mechanism articulates in connecting rod mid portion down, and connecting rod upper end articulates on the aircraft body down, and the buffer is connected to the lower extreme, connects the load bearing wheel under the buffer, and the laser range finder extends down the connecting rod near the place outwards hangs on connecting rod down. The invention solves the problems that the rotor craft can not make the craft take off and land on the shaking plane, the practicality and the universality are poor, and the control accuracy is not high.
Description
Technical Field
The invention relates to a rotor craft provided with a self-adaptive landing gear for taking off and landing in complex terrain and a control method, and belongs to the technical field of relevant equipment and control for landing of the craft in unknown terrain.
Background
Currently, with expansion of human working space, working conditions of a series of aircrafts such as unmanned aircrafts and manned aircrafts become extremely harsh, and in many cases, it is required that aircrafts have a safe and efficient take-off and landing function in complex and changeable environments.
The existing self-adaptive landing gear technology is still not mature enough, the traditional wheel-type landing gear and the skid-type landing gear cannot efficiently assist the aircraft to independently finish taking off and landing on the rugged ground or a shaking plane, many self-adaptive landing gears cannot be applied to heavy aircrafts capable of carrying people, moreover, the aircrafts cannot take off and land on the shaking plane, the practicability and the universality are poor, and the control accuracy is not high and needs to be improved.
Disclosure of Invention
The invention provides a rotor aircraft provided with an adaptive landing gear for taking off and landing on complex terrains and a control method thereof, which can improve the ground adaptability of the aircraft in the landing process, thereby realizing safe taking off and landing on complex terrains so as to meet the requirement that modern aircrafts can take off and land on complex terrains.
The invention provides a rotor craft provided with a self-adaptive landing gear for taking off and landing in complex terrain, which comprises a craft body, a controller, a gyroscope and three landing gears, wherein the self-adaptive landing gear is arranged on the craft body; the top of the aircraft body is provided with a controller, a gyroscope and a propeller, the controller is used for receiving data transmitted back by the laser range finder and the gyroscope, the gyroscope is used for measuring the self inclination angle of the aircraft body, and the aircraft body is provided with a front landing gear and two main landing gears according to a front three-point landing gear layout mode; every undercarriage all includes first power unit, second power unit, goes up connecting rod, lower connecting rod, laser rangefinder, buffer and bearing wheel, first power unit articulates in last connecting rod mid portion, and the upper end of going up the connecting rod articulates on the aircraft body, and the lower extreme articulates in lower connecting rod one end, second power unit articulates in lower connecting rod mid portion, the upper end of connecting rod articulates on the aircraft body down, and the buffer is connected to the lower extreme, connect the bearing wheel under the buffer, laser rangefinder extends down the connecting rod near outside and hangs on the connecting rod down.
Preferably, the first power mechanism comprises a first servo valve, a first hydraulic cylinder and a first hydraulic rod, the first hydraulic cylinder is controlled to open and close in the movement process of the undercarriage to drive the expansion amount of the first hydraulic rod to achieve movement of the first power mechanism, the upper end of the cylinder body of the first hydraulic cylinder is hinged to the aircraft body, and the lower end of the first hydraulic rod is hinged to the middle portion of the upper connecting rod.
Preferably, the second power mechanism comprises a second servo valve, a second hydraulic cylinder and a second hydraulic rod, the second hydraulic cylinder drives the expansion and contraction amount of the second hydraulic rod to realize the movement of the second power mechanism by controlling the second servo valve to open and close in the movement process of the undercarriage, the upper end of the cylinder body of the second hydraulic cylinder is hinged on the upper connecting rod, and the lower end of the second hydraulic rod is hinged at the middle part of the lower connecting rod.
Preferably, the rotorcraft equipped with adaptive landing gear for taking off and landing in complex terrain further comprises motor pumps and oil tanks for providing hydraulic oil to the hydraulic servo system.
A control method of a rotor craft provided with an adaptive landing gear for taking off and landing on complex terrains specifically comprises the following steps:
s1, starting taking off of a rotor craft on rugged ground, taking off of a craft body, and after judging that all the bearing wheels are completely separated from the ground through a laser range finder, retracting an undercarriage;
s2, starting landing of the rotorcraft on the rugged ground, hovering the aircraft body over the rugged ground, expanding the landing gear from a fully retracted state to a maximum state of mechanical structure expansion during flight, respectively recording all height data on respective paths measured in the process of expanding the landing gear of the three laser rangefinders, calculating expected space positions of the three landing gears through a controller, controlling the stretching posture of the landing gear, adjusting the landing gear to the expected space positions, starting landing, and completing landing after judging that all the bearing wheels are fully contacted with the ground through the laser rangefinder;
a control method of a rotor craft provided with an adaptive landing gear for taking off and landing on complex terrains specifically comprises the following steps:
s1, starting taking off of the rotor craft on a shaking plane, controlling the extension posture of the undercarriage by the craft body according to the inclination data of the machine body measured by the gyroscope, continuously adjusting the undercarriage according to the data measured by the gyroscope, repeating the process to enable the craft body to maintain a horizontal state, taking off of the craft body, and retracting the undercarriage after judging that all the bearing wheels are completely separated from the ground by the laser range finder;
s2, the rotor craft starts to drop on the shaking plane, the craft body hovers on the shaking plane, the landing gear is unfolded from a fully retracted state to a mechanical structure unfolding maximum state when flying, the expected space positions of three landing gears are calculated through the controller according to real-time data measured by the laser range finders, the stretching posture of the landing gear is controlled, the landing gear can be adjusted to the expected space positions, landing gear is started to drop, the landing gear is continuously adjusted according to the data measured by the laser range finders, the process is repeated, and after all the bearing wheels are judged to be fully contacted with the ground by the laser range finders, the landing gear is retracted, and the landing is completed.
The rotor craft provided with the self-adaptive landing gear for taking off and landing in complex terrain has the beneficial effects that:
1. the rotor craft provided with the self-adaptive landing gear for taking off and landing on complex terrains has the function of actively adjusting the posture, and can ensure that the aircraft is kept stable and cannot turn over when taking off on rugged ground or a shaking plane.
2. According to the rotor aircraft provided with the self-adaptive landing gear for taking off and landing on complex terrains, the landing gear with power is carried by adopting the front three-point landing gear structural layout, so that the aircraft can keep stable when landing on a rugged ground or a swinging plane, the time consumed by an operator in controlling the taking off and landing of the aircraft is greatly reduced, and the overall operation efficiency and the safety of the taking off and landing process are improved.
3. According to the rotor aircraft provided with the self-adaptive landing gear for taking off and landing in complex terrains, the laser range finders are arranged on the robot mounting base, and the gyroscopes are arranged on the aircraft, so that the condition of a ship surface can be accurately detected, and effective information is provided for stable landing of the landing gear.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
In the drawings:
FIG. 1 is a schematic illustration of a rotorcraft incorporating an adaptive landing gear for taking off and landing over complex terrain in accordance with the present invention;
FIG. 2 is a schematic diagram of a manner in which the present invention provides an adaptive landing gear for takeoff from rough terrain in a control method for a rotorcraft that is configured to take off and land over complex terrain;
FIG. 3 is a schematic diagram of a manner in which an adaptive landing gear may be used to take off from a plane of drag in a method of controlling a rotorcraft taking off and landing over complex terrain in accordance with the present invention;
in the figure, 1-an aircraft body; 2-a motor pump; 3-an oil tank; 4-a controller; a 5-gyroscope; 6-a first servo valve; 7-a first hydraulic cylinder; 8-a first hydraulic rod; 9-upper connecting rods; 10-lower connecting rod; 11-a laser range finder; 12-a buffer; 13-bearing wheels; 14-a second hydraulic lever; 15-a second hydraulic cylinder; 16-a second servo valve.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to the accompanying drawings:
the first embodiment is as follows: this embodiment will be described with reference to fig. 1 to 3. The rotor craft provided with the self-adaptive landing gear and used for taking off and landing on complex terrains comprises an aircraft body 1, a controller 4, a gyroscope 5 and three landing gears;
the top of the aircraft body 1 is provided with a controller 4, a gyroscope 5 and a propeller, the controller 4 is used for receiving data transmitted by a laser range finder 11 and the gyroscope 5, the gyroscope 5 is used for measuring the self dip angle of the aircraft body 1, a front landing gear and two main landing gears are arranged on the aircraft body 1 according to a front three-point landing gear layout mode,
each landing gear comprises a first power mechanism, a second power mechanism, an upper connecting rod 9, a lower connecting rod 10, a laser range finder 11, a buffer 12 and a bearing wheel 13, wherein the first power mechanism is hinged to the middle part of the upper connecting rod 9, the upper end of the upper connecting rod 9 is hinged to the aircraft body 1, the lower end of the upper connecting rod is hinged to one end of the lower connecting rod 10, the second power mechanism is hinged to the middle part of the lower connecting rod 10, the upper end of the lower connecting rod 10 is hinged to the aircraft body 1, the lower end of the lower connecting rod is connected with the buffer 12, the buffer 12 is connected with the bearing wheel 13, and the laser range finder 11 is outwards hung on the lower connecting rod 10 along the position close to the lower connecting rod 10.
The front landing gear and the two main landing gears are arranged on the aircraft body 1 according to the front three-point landing gear layout mode, the aircraft body 1 horizontally extends to form three bearing points according to the front three-point distribution mode, the landing gears which work independently of each other and have the same structure are arranged under each bearing point, the landing gears with power can be carried on the landing gears through adopting the front three-point landing gear structure layout, the aircraft can keep stable when landing on the rugged ground or a shaking plane, the time consumed by an operator in controlling the landing of the aircraft is greatly reduced, and the overall operation efficiency and the landing process safety are improved.
The first power mechanism comprises a first servo valve 6, a first hydraulic cylinder 7 and a first hydraulic rod 8, the first hydraulic cylinder 7 is controlled to open and close in the movement process of the undercarriage, the first hydraulic cylinder 7 is controlled to drive the expansion and contraction amount of the first hydraulic rod 8 to realize the movement of the first power mechanism, the upper end of the cylinder body of the first hydraulic cylinder 7 is hinged on the aircraft body 1, and the lower end of the first hydraulic rod 8 is hinged at the middle part of the upper connecting rod 9.
The second power mechanism comprises a second servo valve 16, a second hydraulic cylinder 15 and a second hydraulic rod 14, the second hydraulic cylinder 15 is controlled to open and close in the movement process of the undercarriage to drive the expansion and contraction amount of the second hydraulic rod 14 to realize the movement of the second power mechanism, the upper end of the cylinder body of the second hydraulic cylinder 15 is hinged on the upper connecting rod 9, and the lower end of the second hydraulic rod 14 is hinged at the middle part of the lower connecting rod 10.
The rotorcraft provided with the adaptive landing gear for taking off and landing on complex terrains further comprises a motor pump 2 and an oil tank 3, wherein the motor pump 2 and the oil tank 3 are used for providing hydraulic oil for a hydraulic servo system.
The first power mechanism comprises a set of servo hydraulic system composed of a first servo valve 6, a first hydraulic cylinder 7 and a first hydraulic rod 8, two ends of the first power mechanism are respectively hinged to the rotor craft body 1 and the middle portion of an upper connecting rod 9, the second power mechanism comprises a set of servo hydraulic system composed of a second servo valve 16, a second hydraulic cylinder 15 and a second hydraulic rod 14, two ends of the second power mechanism are respectively hinged to the tail end of the upper connecting rod 9 and the middle portion of a lower connecting rod 10, one end of the upper connecting rod 9 is hinged to the other end of the craft body 1 and is hinged to the lower connecting rod 10, the lower end of the lower connecting rod 10 is connected with a buffer, a load bearing wheel 13 is connected below the buffer 10, and a laser range finder 11 is hung on the lower connecting rod 10 in a mode of extending the lower connecting rod 10 to the near position.
A control method of a rotor craft provided with an adaptive landing gear for taking off and landing on complex terrain is characterized by taking off from rugged ground, comprising the following steps:
s1, starting taking off of the rotor craft on rugged ground, taking off of the craft body 1, and taking back landing gear after judging that all the bearing wheels 13 are completely separated from the ground through the laser range finder 11;
s2, the rotor craft starts to land on the rugged ground, the craft body 1 hovers on the rugged ground, the landing gear is unfolded from a fully retracted state to a mechanical structure unfolding maximum state when flying, all height data on respective paths measured in the unfolding process of the landing gear of the three laser rangefinders 11 are recorded respectively, the expected space positions of the three landing gears are calculated through the controller 4, the stretching posture of the landing gear is controlled, the landing gear is adjusted to the expected space positions, the landing gear starts to land, and after all the landing wheels 13 are judged to touch the ground through the laser rangefinder 11, the landing is completed.
The control method of the rotor craft provided with the self-adaptive landing gear for taking off and landing on complex terrains is a mode of taking off from a swaying plane, and specifically comprises the following steps of:
s1, starting taking off of the rotor craft on a shaking plane, controlling the extension posture of the undercarriage by the craft body 1 according to the inclination data of the plane body measured by the gyroscope 5, continuously adjusting the undercarriage according to the data measured by the gyroscope, repeating the process to enable the craft body 1 to maintain a horizontal state, taking off of the craft body 1, and retracting the undercarriage after judging that all the bearing wheels 13 are completely separated from the ground by the laser range finder 11;
s2, the rotor craft starts to drop on the shaking plane, the craft body 1 hovers on the shaking plane, the landing gear is unfolded from a fully retracted state to a mechanical structure unfolding maximum state when flying, the expected space positions of three landing gears are calculated through the controller 4 according to real-time data measured by the laser range finders 11, the stretching postures of the landing gears are controlled, the landing gears can be adjusted to the expected space positions, the landing gears start to drop, the landing gears are continuously adjusted according to the data measured by the laser range finders, the process is repeated, and after all the weight bearing wheels 13 are judged to be fully touched by the laser range finders, the landing gears are retracted, and the landing is completed.
The above specific embodiments are used for further detailed description of the objects, technical solutions and advantageous effects of the present invention. It should be understood that the foregoing description is only a specific example of the present invention, and is not intended to limit the invention, but rather is a reasonable combination of features described in the foregoing embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (3)
1. A rotorcraft equipped with adaptive landing gear for taking off and landing in complex terrain, characterized by comprising an aircraft body (1), a controller (4), a gyroscope (5), a nose landing gear and two main landing gears;
the device comprises an aircraft body (1), wherein a controller (4), a gyroscope (5) and a propeller are arranged at the top of the aircraft body (1), the controller (4) is used for receiving data transmitted back by a laser range finder (11) and the gyroscope (5), the gyroscope (5) is used for measuring the self dip angle of the aircraft body (1), and a front landing gear and two main landing gears are arranged on the aircraft body (1) according to a front three-point landing gear layout mode;
each landing gear comprises a first power mechanism, a second power mechanism, an upper connecting rod (9), a lower connecting rod (10), a laser range finder (11), a buffer (12) and a bearing wheel (13), wherein the first power mechanism is hinged to the middle part of the upper connecting rod (9), the upper end of the upper connecting rod (9) is hinged to an aircraft body (1), the lower end of the upper connecting rod is hinged to one end of the lower connecting rod (10), the second power mechanism is hinged to the middle part of the lower connecting rod (10), the upper end of the lower connecting rod (10) is hinged to the aircraft body (1), the lower end of the lower connecting rod is connected with the buffer (12), the buffer (12) is connected with the bearing wheel (13), and the laser range finder (11) is hung on the lower connecting rod (10) outwards along the position close to the lower connecting rod (10);
the first power mechanism comprises a first servo valve (6), a first hydraulic cylinder (7) and a first hydraulic rod (8), the first hydraulic cylinder (7) is controlled to drive the expansion and contraction amount of the first hydraulic rod (8) to realize the movement of the first power mechanism in the movement process of the undercarriage, the upper end of a cylinder body of the first hydraulic cylinder (7) is hinged on the aircraft body (1), and the lower end of the first hydraulic rod (8) is hinged at the middle part of the upper connecting rod (9);
the second power mechanism comprises a second servo valve (16), a second hydraulic cylinder (15) and a second hydraulic rod (14), the second hydraulic cylinder (15) is controlled to drive the expansion and contraction amount of the second hydraulic rod (14) to realize the movement of the second power mechanism in the movement process of the undercarriage, the upper end of a cylinder body of the second hydraulic cylinder (15) is hinged on the upper connecting rod (9), and the lower end of the second hydraulic rod (14) is hinged at the middle part of the lower connecting rod (10);
the rotor craft provided with the self-adaptive landing gear for taking off and landing on complex terrains further comprises a motor pump (2) and an oil tank (3), wherein the motor pump (2) and the oil tank (3) are used for providing hydraulic oil for a hydraulic servo system.
2. A method of controlling a rotorcraft fitted with an adaptive landing gear for take-off and landing on complex terrain as claimed in claim 1, comprising the steps of:
s1, starting taking off of a rotor craft on rugged ground, taking off of a craft body (1), and after all the bearing wheels (13) are judged to be completely separated from the ground by a laser range finder (11), retracting an undercarriage;
s2, the rotor craft starts to land on the rugged ground, the craft body (1) hovers on the rugged ground, the landing gear is unfolded from a fully retracted state to a mechanical structure unfolding maximum state during flying, all height data on respective paths measured in the unfolding process of the landing gear where the three laser rangefinders (11) are located are recorded respectively, the expected space positions of the three landing gears are calculated through the controller (4), the stretching postures of the landing gear are controlled, the landing gear is adjusted to the expected space positions, landing is started, and after all the bearing wheels (13) are judged to touch the ground through the laser rangefinders (11), landing is completed.
3. A method of controlling a rotorcraft fitted with an adaptive landing gear for take-off and landing on complex terrain as claimed in claim 1, comprising the steps of:
s1, starting taking off of the rotor craft on a shaking plane, controlling the stretching posture of the landing gear by the craft body (1) according to the fuselage inclination data measured by the gyroscope (5), continuously adjusting the landing gear according to the data measured by the gyroscope, repeating the process to enable the craft body (1) to maintain a horizontal state, taking off of the craft body (1), and retracting the landing gear after all the bearing wheels (13) are judged to be completely separated from the ground by the laser range finder (11);
s2, the rotor craft starts to land on the shaking plane, the craft body (1) hovers on the shaking plane, the landing gear is unfolded from a fully retracted state to a mechanical structure unfolding maximum state during flying, according to real-time data measured by the laser range finders (11), expected space positions of three landing gears are calculated through the controller (4), the stretching posture of the landing gear is controlled, the landing gear can be adjusted to the expected space positions, landing is started, the landing gear is continuously adjusted according to the data measured by the laser range finders, the process is repeated, and after all the bearing wheels (13) are judged to be fully contacted with the ground by the laser range finders (11), the landing gear is retracted, and landing is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010884865.4A CN112061381B (en) | 2020-08-28 | 2020-08-28 | Rotorcraft equipped with adaptive landing gear for taking off and landing complex terrain and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010884865.4A CN112061381B (en) | 2020-08-28 | 2020-08-28 | Rotorcraft equipped with adaptive landing gear for taking off and landing complex terrain and control method |
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| Publication Number | Publication Date |
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| CN112061381A CN112061381A (en) | 2020-12-11 |
| CN112061381B true CN112061381B (en) | 2023-08-01 |
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| CN202010884865.4A Active CN112061381B (en) | 2020-08-28 | 2020-08-28 | Rotorcraft equipped with adaptive landing gear for taking off and landing complex terrain and control method |
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| CN112977806B (en) * | 2021-03-04 | 2022-04-22 | 南京航空航天大学 | Self-adaptive walking undercarriage and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102202968A (en) * | 2008-06-30 | 2011-09-28 | 埃姆普里萨有限公司 | Landing gear mechanism for aircraft |
| CN109334956A (en) * | 2018-11-07 | 2019-02-15 | 农业部南京农业机械化研究所 | A kind of adaptive undercarriage of plant protection unmanned aerial vehicle complicated landform and control method |
| CN209274889U (en) * | 2018-11-07 | 2019-08-20 | 农业部南京农业机械化研究所 | A kind of adaptive undercarriage of plant protection unmanned aerial vehicle complicated landform |
| CN111470035A (en) * | 2020-04-30 | 2020-07-31 | 中国飞机强度研究所 | Complex terrain self-adaptive landing gear of vertical take-off and landing aircraft and landing method thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2529483A (en) * | 2014-08-22 | 2016-02-24 | Airbus Operations Ltd | A landing gear assembly |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102202968A (en) * | 2008-06-30 | 2011-09-28 | 埃姆普里萨有限公司 | Landing gear mechanism for aircraft |
| CN109334956A (en) * | 2018-11-07 | 2019-02-15 | 农业部南京农业机械化研究所 | A kind of adaptive undercarriage of plant protection unmanned aerial vehicle complicated landform and control method |
| CN209274889U (en) * | 2018-11-07 | 2019-08-20 | 农业部南京农业机械化研究所 | A kind of adaptive undercarriage of plant protection unmanned aerial vehicle complicated landform |
| CN111470035A (en) * | 2020-04-30 | 2020-07-31 | 中国飞机强度研究所 | Complex terrain self-adaptive landing gear of vertical take-off and landing aircraft and landing method thereof |
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| CN112061381A (en) | 2020-12-11 |
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