With the increasing requirements for vehicle mobility and transport efficiency, the amphibious fly-drive vehicle has attracted more widespread attention. This article presents a novel fly-drive vehicle driven by rotor-wing in the air and Ackerman chassis on the road. The vehicle is designed to achieve continuous air–land motion. To describe the multimodal motion, an integrated dynamic model is proposed, mainly combining the rotor-wing model, tire model, chassis two-track model, and suspension model. Based on the coupling dynamic analysis of the landing process, the rotor-wing is designed as an active regulator to compensate for the suspension vibration after the tire crashing to the ground. The controller is achieved by combining the model predictive controller and control allocation under a two-layer structure. The integrated model is implemented in MATLAB, and the results of landing motion due to different parameters show a reasonable and varying trend. Compared with a normal landing process, the proposed rotor-wing controller is verified with hardware-in-the-loop simulation to be efficient in enhancing the landing stability of the fly-drive vehicle.

中文翻译：

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两栖飞车的多模式动力学分析与控制

随着对车辆机动性和运输效率的日益增长的要求，两栖飞行驾驶车辆引起了越来越广泛的关注。本文介绍了一种新型的飞车，该飞车由空中的旋翼和公路上的阿克曼底盘驱动。该车辆旨在实现连续的空地运动。为了描述多模态运动，提出了一个集成的动力学模型，该模型主要结合了旋翼模型，轮胎模型，底盘两轨模型和悬架模型。基于对着陆过程的耦合动力学分析，旋翼被设计为主动调节器，以补偿轮胎撞击地面后的悬架振动。通过在两层结构下组合模型预测控制器和控制分配来实现控制器。集成模型在MATLAB中实现，不同参数引起的着陆运动结果显示出合理且变化的趋势。与正常着陆过程相比，所提出的旋翼控制器已通过硬件在环仿真进行了验证，可以有效地提高飞行驱动车辆的着陆稳定性。