Dynamics and Directional Stability of High-Speed Unmanned Aerial Vehicle Ground Taxiing Process

Abstract

The bifurcation analysis method is used to study the high-speed unmanned aerial vehicle (UAV) dynamics and directional stability during the steering process on the ground. A UAV nonlinear ground taxiing dynamic model is built considering the effects of large-angle-steering motion on the interactive aerodynamic forces. The single-parameter bifurcation analysis is first conducted to study the influence of the UAV rectilinear velocity on the system stability performance. The bifurcation parameter plane is divided into several parts by the bifurcation points to analyze different kinds of UAV steering motion states. Then the analysis of the UAV loading features and the kinetic characteristics gives further insight into the instability mechanism of the system. Moreover, the dual-parameter bifurcation analysis is carried out, and the effects of the main-wheel span and the nose wheel steering angle are investigated. Results indicate that the Bautin bifurcation and the Fold-Hopf bifurcation both increase the unstable region of the UAV ground steering dynamic system.