Influence on Vertical Landing Stability of Multirotor UAVs with Adaptive Landing Gears

The vertical taking-off and landing stability of multirotor UAVs directly affects the fight safety. To improve the adaptability of a multirotor UAV when landing on complex terrains, a new type of an adaptive landing gear which can be adjusted according to various terrains is designed. The dynamic model of adaptive taking-off and landing UAV considering the friction between the landing gear and the ground is established in Simcenter3D. And the adaptive landing gear shock absorber dynamic model is established in AMESim. The influences of the landing gear frictional force and the buffering force on the landing stability are studied using a co-simulation method of Simcenter3D and AMESim. The results show that a small frictional coefficient of the landing leg leads to the fuselage more vulnerable to lose its landing stability in the rebound phase. Increasing the spring stiffness of the shock absorber and the throttle hole diameter can effectively reduce the maximum inclination angle of the fuselage, so that the vertical landing stability of a UAV can be improved remarkably.