变构型陆空平台动态起降轨迹规划研究

Aerial-ground platform has multi-domain maneuverability and can adapt to various complex environments through the conversion of land and air mode, but the land and air mode conversion is mostly static take-off or hovering descent, which is not conducive to the full display of the maneuverability of the aerial-ground platform. Aiming at a deformable aerial-ground amphibious platform with deflectable power mechanism, the flight dynamics model of the aerial-ground platform was established based on the Newton-Euler equation, the time sequence of the deflection angle was planned to obtain dynamic constraints, and the relative time optimal objective function was determined. The fifth-order polynomial was used to fit the two-dimensional trajectory, and the trajectory tracking controller was designed according to the PID control method, and the trajectory planning and control simulation were carried out. The results show that the dynamic switching time is shortened by 23.02% compared with the static switching time, the dynamic switching planning trajectory is smooth, there is no overshoot in the altitude direction, and the controller can better track the target flight trajectory.