基于无人直升机的多连杆仿生腿起落架系统集成与验证技术

doi:10.3901/JME.2025.16.305

摘要/Abstract

摘要： 针对传统的无人直升机起落架系统存在的智能化水平低和复杂地形着陆适应性差的问题，设计出一种基于多连杆构型的仿生腿起落架系统，作为原有固定式起落架的有效补充。在分析应用场景需求的基础上，给出仿生腿起落架的设计理念和总体构型，在基础上进行系统集成和验证技术的研究。首先，基于六腿式设计构型，提出仿生腿起落架的结构设计和驱动/ 控制系统设计方法；然后，用于某型无人直升机验证平台，构建仿生腿起落架物理样机，提出飞控-腿控-地形识别系统的协同控制与融合设计方法；最后，通过样机，完成了全机振动特性测试试验和地面共振分析、实验室承载能力测试、外场飞行着陆验证等试验。研究结果表明，多连杆仿生腿起落架可实现占最大起飞重量不大于25%的轻量化设计，能够在起伏不大于200 mm的非结构地形着陆，其驱动/控制设计方法有效实现了起落架着陆过程的缓冲和机身的稳定性控制，可作为起落架的有效补充，实现无人直升机的野外非结构地形自适应着陆，相比于传统起落架具备可折叠、着陆姿态调整、复杂地形适应等优点。

关键词: 仿生腿起落架, 地形自适应, 系统集成, 协同控制, 验证试验, 样机

Abstract: The bionic leg landing gear system based on multilink configuration was designed to solve the problems of low intelligence and poor adaptability of traditional unmanned helicopter landing gear systems when landing on complex terrains, as an effective supplement to the original fixed landing gear. Based on the analysis of application scenario requirements, this article provides the design concept and overall configuration of a bionic leg landing gear, and conducts research on system integration and verification technology on this basis. Firstly, based on the six-leg design scheme, the structural design and drive/control system design method of the bionic leg landing gear are given. Then, for a certain type of unmanned helicopter for verification, a physical prototype of the bionic leg landing gear was constructed, and the collaborative control and fusion design method of the flight control-leg control-terrain recognition system was proposed. Finally, based on this prototype, the tests that the whole machine vibration characteristics test and ground resonance analysis, carrying capacity test in laboratory, field flight landing verification are completed. These researches indicate that, the multilink bionic leg landing gear can achieve a lightweight design that accounts for no more than 25% of the maximum takeoff weight, and can land on unstructured terrain with no more than 200 mm undulations. And through its drive/control design method, the buffering of the landing gear landing process and the stability control of the fuselage are effectively realized. Compared with the traditional landing gear, this kind of landing gear has the advantages of fordable deployment, landing attitude adjustment, and complex terrain adaptation.

Key words: bionic leg landing gear, terrain adaptation, system integration, cooperative control, test verification, prototype

中图分类号:

V285
V216

任佳, 刘小川, 王计真, 高峰, 孙竞, 尹科. 基于无人直升机的多连杆仿生腿起落架系统集成与验证技术[J]. 机械工程学报, 2025, 61(16): 305-320.

REN Jia, LIU Xiaochuan, WANG Jizhen, GAO Feng, SUN Jing, YIN Ke. System Integration and Verification Technology of Multi-link Bionic Leg Landing Gear for Unmanned Helicopter[J]. Journal of Mechanical Engineering, 2025, 61(16): 305-320.

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