The dynamic analysis of the rotorcraft with robotic landing gear in the landing process on uneven ground

Abstract

In order to avoid the hard landing on the uneven ground, several robotic landing gears of the rotorcraft are designed. In previous studies, most literature focuses on the control methods of the robotic landing gears. There has been very little research on the dynamic model of the rotorcraft with the robotic landing gears in the landing process. In this work, based on the Lagrangian formulation, the dynamic model of the rotorcraft considering different parameters in the landing process is derived, where the angle of the slope of the uneven ground and the angle of the attack of the rotorcraft are considered. Then an approach is presented to determine the bounds of the dynamic response of the rotorcraft with uncertainties parameters. The results of numerical examples show that in order to maintain the safety, the robotic landing gear of the rotorcraft would be controlled to adjust the condition of the ground, while the initial velocities are restricted to be less than certain value; the large deviations of the landing parameters would may resulted in an overload of the rotorcraft.