Corresponding author: Kulifeyev Yury В., D.Sc, Professor, Chief Officer, Uspensky Avionica Moscow Research and Production Complex, Moscow, 127055, Russian Federation, e-mail: aazhdanov@ipmce.ru

Received on September 18, 2015
Accepted on September 25, 2015

Landing of UAV of an airplane-type is a complicated and potentially dangerous final stage of the flight. Success of landing depends on such factors as UA V flight performance, landing descent trajectory configuration, capabilities of the onboard equipment used for landing, aerodrome characteristics, capabilities of the aerodrome landing systems, as well as the meteorological conditions in the landing area. Generally, now at the stage of field landing UA V descents along a straight glide path with a slope within 2...3 degrees down to a runway contact with the landing gear. In case of such a descent without a flare path UA V landing is hard, which is especially undesirable for heavy UAVs. The technique of optimization of the descent path of a heavy unmanned aircraft of an airplane-type ensures a soft landing on the airfield ground. As the object of the study a heavy class drone of an airplane-type was selected. A mathematical model of the object included aerodynamic and dynamic model of the spatial movement of the unmanned aerial vehicle as a rigid body, a model of the two traction motor propulsion system, an elastic model of the tricycle landing gear with a turning nose strut and models of wind disturbances. For control of the movement of the unmanned aerial vehicle the algorithms for automatic control were used, synthesized by the method of the inverse problems of dynamics. In order to resolve the desired descent path of an unmanned aerial vehicle's landing on the airfield ground to a halt mathematical modeling was used. The results of the mathematical simulation mode fully confirm the validity of the choice of the path alignment as a third-order polynomial. In this type of alignment the desired trajectory ensures a soft landing of an unmanned aircraft, which excludes the possibility of emergency situations in the moment of transition in the flight path of the air traffic on the surface of the runway.

Keywords: drone, flight and navigation system of an unmanned aircraft, longitudinal motion model of an unmanned aerial vehicle, straight stretch of decline, leveling curve, landing of an unmanned aircraft

For citation:
Kulifeyev Y. B., Mironova M. M. Trajectory Optimization of a Heavy Unmanned Aerial Vehicle at the Stage of Full Landing, Mekhatronika, Avtomatizatsiya, Upravlenie, 2016, vol. 17, no. 1, pp. 67—72.
DOI: 10.17587/mau/17.67-72

To the contents