Modeling and Multimode Analysis of Electrically Driven Flying Car

Aiming at a flying car which can be used for land-air amphibious, the dynamic models of its land drive module and air flight module are built respectively to obtain the simulation model under different working conditions. In order to ensure that the simulation model can stably track the driving speed and other indicators, different controllers are designed for the land and air modules as the nominal control structures, respectively. A series of simulations of different working conditions for flying car are presented, such as straight-line driving on the ground to fly in the air. The results show that the vehicle can track the speed well under the straight-line driving condition, and it can track the height well under the hovering condition. The vehicle wheel vertical load and lateral load will decrease to zero during switching driving on ground to fly in the air. When it takes off completely, it will experience an oscillation process and finally stabilize.