Experimental Parameter Identification and an Evaluation of the Impact of Tire Models on the Dynamics of Fixed-Wing Unmanned Aerial Vehicles

Abstract

Because fixed-wing unmanned aerial vehicles (UAVs) require high-speed taxiing for takeoff and landing, the aircraft’s stability during taxiing is critical. However, despite research on the taxiing stability of fixed-wing UAVs conducted in taxiing motion simulations employing various tire models, the applicability of the models to fixed-wing UAV taxiing simulations remains unclear, as does the rationale behind the parameter settings in the models. Therefore, in our study, we measured the forces acting on the tires of a fixed-wing UAV under various conditions, including tire loads of 1.6–3.6 kg and tire slip angles of 0–40 deg. Based on the results, we modified conventional tire models and assessed their applicability in taxiing simulations. Among our findings, the parameter values of the models significantly differed from those used in crewed aircraft taxiing simulations, and the presence or absence of load parameters in the lateral force tire models significantly affected the dynamics. Furthermore, the aerodynamics acting on the aircraft enhanced the straight-line stability during taxiing, resulting in reduced forces on the tires.