TY - GEN
T1 - Comprehensive Design and Analysis of Land-Air Amphibious Vehicle with Tilted Fuselage for Improved Yaw Performance
AU - Zhu, Hua
AU - Fan, Wei
AU - Xu, Bin
AU - Xu, Tao
AU - Liu, Longlong
AU - Zhou, Xuanping
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - In recent years., land-air amphibious vehicles (LAV) have attracted widespread attention from both industry and academia. Stability control in complex environments has become one of the most significant challenges in the application of LAVs. In this paper., we propose a ducted-fan LAV with a tilted fuselage angle to enhance yaw attitude performance under disturbances. Firstly., a comprehensive dynamic model with turbulent wind field model is established for the flight system. A global sensitivity analysis (GSA) method based on the Monte Carlo algorithm is utilized to determine the prominent negative correlation between the fuselage tilt angle and the yaw error. Secondly., the frequency domain analysis is applied to determine the robustness of the system., and the appropriate fuselage tilt angle conforming to the characteristics of the proposed LAV is obtained. Finally., time domain simulations show that the yaw tracking error is reduced by 50.73% under wind disturbance and parametric perturbation. Besides., the yaw control quantity and the risk of control input saturation are significantly decreased. The comprehensive analysis and experimental verification in this paper reveal the mechanism of increasing yaw torque through the design of a tilted fuselage., thereby providing guidelines for designing a more effective LAV.
AB - In recent years., land-air amphibious vehicles (LAV) have attracted widespread attention from both industry and academia. Stability control in complex environments has become one of the most significant challenges in the application of LAVs. In this paper., we propose a ducted-fan LAV with a tilted fuselage angle to enhance yaw attitude performance under disturbances. Firstly., a comprehensive dynamic model with turbulent wind field model is established for the flight system. A global sensitivity analysis (GSA) method based on the Monte Carlo algorithm is utilized to determine the prominent negative correlation between the fuselage tilt angle and the yaw error. Secondly., the frequency domain analysis is applied to determine the robustness of the system., and the appropriate fuselage tilt angle conforming to the characteristics of the proposed LAV is obtained. Finally., time domain simulations show that the yaw tracking error is reduced by 50.73% under wind disturbance and parametric perturbation. Besides., the yaw control quantity and the risk of control input saturation are significantly decreased. The comprehensive analysis and experimental verification in this paper reveal the mechanism of increasing yaw torque through the design of a tilted fuselage., thereby providing guidelines for designing a more effective LAV.
KW - global sensitivity analysis
KW - land-air amphibious vehicle
KW - robustness analysis
KW - yaw control torque
UR - http://www.scopus.com/inward/record.url?scp=85180126725&partnerID=8YFLogxK
U2 - 10.1109/ICUS58632.2023.10318298
DO - 10.1109/ICUS58632.2023.10318298
M3 - Conference contribution
AN - SCOPUS:85180126725
T3 - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
SP - 136
EP - 141
BT - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
A2 - Song, Rong
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
Y2 - 13 October 2023 through 15 October 2023
ER -