无人机地面滑跑模型的建立是起飞、着陆阶段地面滑跑控制律设计及实时系统仿真开发的基础。建立某轮式无人机的起落架模型和轮胎模型,将无人机质量分为弹性支撑质量和非弹性支撑质量两部分,在无人机滑跑时,对两部分进行动力学分析,建立无人机的地面滑跑模型,并对无人机地面滑跑模型进行加速和减速滑跑的仿真测试,最终的仿真结果表明模型正确。 The establishment of UAV ground roll model is the basis of design of control law of ground slip during landing and landing and real-time system simulation development. The landing gear model and tire model of a wheeled UAV are established. The quality of the UAV is divided into two parts: the mass of the elastic support and the mass of the non-elastic support. During the flight of the UAV, the dynamics of the two parts are established and established UAV ground sliding model, and UAV ground sliding model acceleration and deceleration running simulation test, the final simulation results show that the model is correct.