A Novel Impedance-Based Parallel Cooperative Control Method for Front and Rear Landing Gear Hydraulic Systems of UAVs

Abstract

Cargo handling issues affect the ability of large heavy-duty Unmanned Aerial Vehicles (UAVs) to transport cargo and limit the development of large UAVs. Compared to conventional landing gear, hydraulically controlled landing gear can tilt the drone within a specified angle, facilitating smoother loading and unloading of goods. Therefore, it is important to study the hydraulic landing gear control system for a UAV to make the UAV’s tilt possible. In this paper, an impedance-based parallel cooperative control method for front and rear landing gear hydraulic systems of large heavy-duty UAVs is presented, which can achieve UAV tilting within a reasonable angle during the loading and unloading of cargoes by large, heavy-duty UAVs. This paper establishes the physical model of the UAV’s landing gear, the mathematical model of the hydraulic system, and the kinematic model of the airframe. Through kinematic analysis, the correlation between each hydraulic dive unit’s (HDU’s) extension length in the landing gear and the UAV’s tilt angle is established. This paper introduces a two-fold based-loop parallel control technique, featuring angle based-loop control for the UAV’s front and position based-loop control for its rear landing gear. It aims to enable the UAV to freely tilt for loading and unloading cargo at a predetermined angle, by measuring the UAV’s tilting angle, the HDU’s force exerted on the landing gear, and its positional parameters. Ultimately, the practicality of this technique is confirmed through simulations and experiments.