Launching Safety of Small Folding-Wing UAV Against Wind Disturbance

During the launching phase of a small folding-wing UAV(SFUAV), the wings undergo drastic changes in aerodynamic and mass characteristics, the rudder efficiency is low and the anti-disturbance ability is poor, making it highly susceptible to environmental wind disturbances. This study focuses on the motion characteristics of SFUAV in the launching process and the launching safety in wind disturbance environments. Firstly, the wings unfolding dynamic model is established. Secondly, the impact of different wing-unfolding time on launching safety is investigated in calm environment. Furthermore, the effect of different wind speeds and directions on launch safety is analyzed. Finally, to enhance the launching safety of SFUAV against crosswind disturbances, a PID controller is designed to increase the flight stability and safety of the launching process.