Multimodal Dynamics Analysis and Control for Amphibious Fly-Drive Vehicle

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.