Takeoff and landing control method and control apparatus of multimodal air-ground amphibious vehicle, and computer storage medium
A takeoff and landing control method of a multimodal air-ground amphibious vehicle includes: receiving dynamic parameters of the multimodal air-ground amphibious vehicle; processing the dynamic parameters by a coupled dynamic model of the multimodal air-ground amphibious vehicle to obtain dynamic control parameters of the multimodal air-ground amphibious vehicle, wherein the coupled dynamic model of the multimodal air-ground amphibious vehicle comprises a motion equation of the multimodal air-ground amphibious vehicle in a touchdown state; and the motion equation of the multimodal air-ground amphibious vehicle in a touchdown state is determined by a two-degree-of-freedom suspension dynamic equation and a six-degree-of-freedom motion equation of the multimodal air-ground amphibious vehicle in the touchdown state; and controlling takeoff and landing of the multimodal air-ground amphibious vehicle according to the dynamic control parameters of the multimodal air-ground amphibious vehicle. The method is used for takeoff and landing control of a multimodal air-ground amphibious vehicle.
1. A takeoff and landing control method of a multimodal air-ground amphibious vehicle, wherein the multimodal air-ground amphibious vehicle comprises an aircraft and a vehicle that are rigidly connected, the takeoff and landing control method of the multimodal air-ground amphibious vehicle comprising:
receiving dynamic parameters of the multimodal air-ground amphibious vehicle;
processing the dynamic parameters by a coupling dynamic model of the multimodal air-ground amphibious vehicle to obtain dynamic control parameters of the multimodal air-ground amphibious vehicle; wherein the coupling dynamic model of the multimodal air-ground amphibious vehicle comprises a motion equation of the multimodal air-ground amphibious vehicle in a touchdown state; and the motion equation of the multimodal air-ground amphibious vehicle in the touchdown state is determined by a two-degree-of-freedom suspension dynamic equation of the multimodal air-ground amphibious vehicle in the touchdown state and a six-degree-of-freedom motion equation of the multimodal air-ground amphibious vehicle in the touchdown state; and
controlling takeoff and landing of the multimodal air-ground amphibious vehicle according to the dynamic control parameters of the multimodal air-ground amphibious vehicle;
wherein the motion equation of the multimodal air-ground amphibious vehicle in the touchdown state satisfies:
M
V
.
X
=
∑
i
=
1
4
(
F
d
i
cos
(
δ
i
+
ψ
)
-
F
L
i
sin
(
δ
i
+
ψ
)
)
-
F
a
cos
(
ψ
)
M
V
.
Y
=
∑
i
=
1
4
(
F
di
sin
(
δ
i
+
ψ
)
+
F
L
i
cos
(
δ
i
+
ψ
)
)
-
F
a
sin
(
ψ
)
I
x
φ
¨
=
M
s
g
h
s
sin
φ
-
∑
i
=
1
4
(
F
d
i
sin
δ
i
+
F
L
i
cos
δ
i
)
h
s
cos
φ
+
∑
i
=
1
4
L
x
[
c
(
Z
.
i
1
-
Z
.
i
2
)
+
k
z
2
(
Z
i
1
-
Z
i
2
)
]
I
y
θ
¨
=
M
s
g
h
s
sin
θ
-
∑
i
=
1
4
(
F
di
cos
δ
i
-
F
L
i
sin
δ
i
)
h
s
cos
θ
+
∑
i
=
1
4
L
y
[
c
(
Z
.
i
1
-
Z
.
i
2
)
+
k
z
2
(
Z
i1
-
Z
i2
)
]
I
z
ψ
¨
=
∑
i
=
1
4
(
L
y
(
-
F
di
cos
δ
i
+
F
L
i
sin
δ
i
)
+
L
x
(
F
d
i
sin
δ
i
+
F
L
i
cos
δ
i
)
)
-
M
a
M
w
z
¨
i
1
=
-
c
z
(
z
.
i
1
-
z
.
i
2
)
-
k
z
2
(
z
i
1
-
z
i
2
)
-
k
z
1
z
i
1
+
q
M
s
z
¨
i
2
=
-
c
z
(
z
.
i
2
-
z
.
i
1
)
-
k
z
2
(
z
i
2
-
z
i
1
)
-
F
Ni
wherein M is a mass of the multimodal air-ground amphibious vehicle, M S is a sprung mass, M W is a tire mass, I X is a rotational inertia around an x-axis of the multimodal air-ground amphibious vehicle relative to a center of mass, I Y is a rotational inertia around a y-axis of the multimodal air-ground amphibious vehicle relative to the center of mass, I Z is a rotational inertia around a z-axis of the multimodal air-ground amphibious vehicle relative to the center of mass, ϕ is a roll angle of the multimodal air-ground amphibious vehicle around the x-axis, θ is a pitch angle of the multimodal air-ground amphibious vehicle around the y-axis, ψ is a yaw angle of the multimodal air-ground amphibious vehicle around the z-axis, V X is a velocity of the multimodal air-ground amphibious vehicle in the x-axis direction, V Y is a velocity of the multimodal air-ground amphibious vehicle in the y-axis direction, V z is a velocity of the multimodal air-ground amphibious vehicle in the z-axis direction, F di is a tire longitudinal force of the multimodal air-ground amphibious vehicle, F Li is a tire lateral force of the multimodal air-ground amphibious vehicle, δ i tire steering angle, F a is an air resistance of the multimodal air-ground amphibious vehicle traveling in the touchdown state, g is a gravitational acceleration, h s is a height from a center of gravity of the sprung mass to a center of gravity of the vehicle, L x is a distance of a tire from the center of the multimodal air-ground amphibious vehicle in the x-axis direction, L y is a distance of the tire from the center of the multimodal air-ground amphibious vehicle in the y-axis direction distance, M a is an air resistance moment of the multimodal air-ground amphibious vehicle traveling in the touchdown state, K z1 is a tire stiffness, K z2 is a suspension shock absorber stiffness, c z is a suspension shock absorber damping coefficient, q is an external excitation to the vehicle, Z i2 is a vertical displacement of a vehicle body corresponding to each tire, Z i1 is a vertical displacement of each tire, F Ni is a vertical load pressure of the tire, and i is a tire number.
2. The takeoff and landing control method of the multimodal air-ground amphibious vehicle according to claim 1 , wherein the two-degree-of-freedom suspension dynamic equation satisfies:
M w {umlaut over (z)} i1 =−c z ( ż i1 −ż i2 )− k z2 ( Z i1 −Z i2 )− k z1 Z i1 +q
M s {umlaut over (z)} i2 =−c z ( ż i2 −ż i1 )− k z2 ( Z i2 −Z i1 )− F Ni
wherein F M is a vertical load of each tire, M W is the tire mass, M S is the sprung mass, K z1 is the tire stiffness, K z2 is the suspension shock absorber stiffness, c z is the suspension shock absorber damping coefficient, Z i2 is the vertical displacement of the vehicle body corresponding to each tire, z i1 is the vertical displacement of each tire, q is the external excitation to the vehicle, and i is the tire number.
3. The takeoff and landing control method of the multimodal air-ground amphibious vehicle according to claim 1 , wherein the six-degree-of-freedom motion equation of the multimodal air-ground amphibious vehicle in the touchdown state satisfies:
M
V
.
X
=
∑
i
=
1
4
(
F
d
i
cos
(
δ
i
+
ψ
)
-
F
L
i
sin
(
δ
i
+
ψ
)
)
-
F
a
cos
(
ψ
)
M
V
.
Y
=
∑
i
=
1
4
(
F
di
sin
(
δ
i
+
ψ
)
+
F
L
i
cos
(
δ
i
+
ψ
)
)
-
F
a
sin
(
ψ
)
I
x
φ
¨
=
M
s
g
h
s
sin
φ
-
∑
i
=
1
4
(
F
d
i
sin
δ
i
+
F
L
i
cos
δ
i
)
h
s
cos
φ
+
∑
i
=
1
4
L
x
[
c
(
Z
.
i
1
-
Z
.
i
2
)
+
k
z
2
(
Z
i
1
-
Z
i
2
)
]
I
y
θ
¨
=
M
s
g
h
s
sin
θ
-
∑
i
=
1
4
(
F
di
cos
δ
i
-
F
L
i
sin
δ
i
)
h
s
cos
θ
+
∑
i
=
1
4
L
y
[
c
(
Z
.
i
1
-
Z
.
i
2
)
+
k
z
2
(
Z
i1
-
Z
i2
)
]
I
z
ψ
¨
=
∑
i
=
1
4
(
L
y
(
-
F
di
cos
δ
i
+
F
L
i
sin
δ
i
)
+
L
x
(
F
d
i
sin
δ
i
+
F
L
i
cos
δ
i
)
)
-
M
a
wherein M is the mass of the multimodal air-ground amphibious vehicle, M s is the sprung mass, I x is the rotational inertia around the x-axis of the multimodal air-ground amphibious vehicle relative to the center of mass, I y is the rotational inertia around the y-axis of the multimodal air-ground amphibious vehicle relative to the center of mass, I z is the rotational inertia around the z-axis of the multimodal air-ground amphibious vehicle relative to the center of mass, ϕ is the roll angle of the multimodal air-ground amphibious vehicle around the x-axis, ι is the pitch angle of the multimodal air-ground amphibious vehicle around the y-axis, ψ is the yaw angle of the multimodal air-ground amphibious vehicle around the z-axis, V X is the velocity of the multimodal air-ground amphibious vehicle in the x-axis direction, V Y is the velocity of the multimodal air-ground amphibious vehicle in the y-axis direction, V Z is the velocity of the multimodal air-ground amphibious vehicle in the z-axis direction, F di is the tire longitudinal force of the multimodal air-ground amphibious vehicle, F Li is the tire lateral force of the multimodal air-ground amphibious vehicle, δ i is the tire steering angle, F a is the air resistance of the multimodal air-ground amphibious vehicle traveling in the touchdown state, g is the gravitational acceleration, h s is the height from the center of gravity of the sprung mass to the center of gravity of the vehicle, L x is the distance of the tire from the center of the multimodal air-ground amphibious vehicle in the x-axis direction, L y is the distance of the tire from the center of the multimodal air-ground amphibious vehicle in the y-axis direction distance, z i2 is the vertical displacement of the vehicle body corresponding to each tire, z i1 is the vertical displacement of each tire, M a is the air resistance moment of the multimodal air-ground amphibious vehicle traveling in the touchdown state, and i is the tire number.
4. The takeoff and landing control method of the multimodal air-ground amphibious vehicle according to claim 1 , wherein the tire longitudinal force F di , satisfies:
F
di
=
{
1
0
k
di
F
Ni
α
i
,
Ϛ
i
≤
0.1
k
di
F
Ni
,
Ϛ
i
>
0.1
k
di
F
Ni
,
Ϛ
i
<
0.1
wherein α; is a tire sideslip angle, k di is a tire longitudinal slip stiffness coefficient, F N , is a vertical load pressure of each tire, and ζ i is a tire longitudinal slip rate; and
the tire lateral force F Li satisfies:
F
Li
=
{
k
Li
F
Ni
α
i
,
α
i
≤
5
5
F
Ni
α
i
,
α
i
>
5
-
5
F
Ni
α
i
,
α
i
<
-
5
wherein k li is a tire lateral slip stiffness coefficient, α i is the tire sideslip angle, and F Ni is the tire vertical load.
5. The takeoff and landing control method of the multimodal air-ground amphibious vehicle according to claim 1 , wherein the coupling dynamic model of the multimodal air-ground amphibious vehicle further comprises a motion equation of the multimodal air-ground amphibious vehicle in a flying state, and the motion equation of the multimodal air-ground amphibious vehicle in the flying state satisfies:
m{dot over (V)} X =−K 1 V X −(cos ψ sin θ cos ϕ+sin ψ sin ϕ)· u 1
m{dot over (V)} Y =−K 2 V Y −(sin ψ sin θ cos ϕ−cos ψ sin ϕ)· u 1
m{dot over (V)} Z =−K 3 V Z −mg +cos ϕ cos θ· u 1
I x {umlaut over (ϕ)}=−K 4 l{dot over (ϕ)}+l·u 2
I y {umlaut over (θ)}=−K 5 l{dot over (θ)}+l·u 3
I z {umlaut over (ψ)}=−K 6 {dot over (ψ)}+c·u 4
wherein m is a mass of the aircraft, g is the gravitational acceleration, V X is the velocity of the multimodal air-ground amphibious vehicle in the x-axis direction, V Y is the velocity of the multimodal air-ground amphibious vehicle in the y-axis direction, V Z is the velocity of the multimodal air-ground amphibious vehicle in the z-axis direction, I x is the rotational inertia around the x-axis of the multimodal air-ground amphibious vehicle relative to the center of mass, I y is the rotational inertia around the y-axis of the multimodal air-ground amphibious vehicle relative to the center of mass, I z is the rotational inertia around the z-axis of the multimodal air-ground amphibious vehicle relative to the center of mass, ϕ is the roll angle of the multimodal air-ground amphibious vehicle around the x-axis, θ is the pitch angle of the multimodal air-ground amphibious vehicle around the y-axis, ψ is the yaw angle of the multimodal air-ground amphibious vehicle around the z-axis, K i (i=1 . . . 6) is an aerodynamic damping parameter, l is a distance from the center of the aircraft to a propeller axis, C is a conversion constant between a force and a moment, u 1 is a dynamic input of vertical motion of the multimodal air-ground amphibious vehicle in the flying state, u 2 is a dynamic input of roll motion of the multimodal air-ground amphibious vehicle in the flying state, u 3 is a dynamic input of pitch motion of the multimodal air-ground amphibious vehicle in the flying state, u 4 is a dynamic input of yaw motion of the multimodal air-ground amphibious vehicle in the flying state, and i is the tire number.
6. The takeoff and landing control method of the multimodal air-ground amphibious vehicle according to claim 1 , wherein the dynamic parameters comprise attitude parameters of tires of the multimodal air-ground amphibious vehicle and flight dynamic parameters; and the attitude parameters of each tire comprise an angular velocity and a steering angle.
7. The takeoff and landing control method of the multimodal air-ground amphibious vehicle according to claim 1 , wherein the dynamic control parameters comprise motion parameters of six degrees of freedom of the multimodal air-ground amphibious vehicle, a vertical displacement of each tire of the multimodal air-ground amphibious vehicle, and a vertical displacement of a vehicle body corresponding to each tire of the multimodal air-ground amphibious vehicle.