Multibody Dynamics Modeling and Control of Folding Wing Vertical Takeoff and Landing Aircraft

Abstract

To address the limited endurance of rotorcraft and the restricted flight areas of fixed-wing aircraft, a vertically take-off and landing multi-unit wings tandem configuration is proposed. First, using multi-body kinematics and the lifting-line theory, the aerodynamic characteristics of the centralized deformation are analyzed, and limits of the flight angle of attack during the deformation process are determined. Then, a nonlinear multi-body dynamics model is established using the quasi-Lagrangian equation to comprehensively describe the relative motion characteristics between the unit wings. The flight efficiency of fixed wings and folding wings during the climb process is compared, which verifies the long endurance and good maneuverability of the folding wings. Finally, a modal analysis of the attitude and structural coupling characteristics of the folding wings in steady-level flight is conducted, based on which the cooperative control law of folding and flight is designed to achieve stable control in the process of tilting and folding.

Keywords

• vertical takeoff and landing
• variant vehicle
• quasi-lagrange equation
• modal analysis
• flight control