Modeling of Small UAV Parachute Recovery System Based on Lagrangian Method

The constraint between the parachute and the small UAV is quite complicated, and it is difficult to accurately and quickly establish the dynamics model of the small UAV parachute recovery system. In order to solve this problem, a small UAV parachute recovery system is considered as a multibody system consisting of a parachute and a small UAV. The aerodynamic forces and moments of the parachute and the small UAV during the parachute recovery process are established respectively, and they are introduced into the center of mass of the parachute recovery system through virtual work. Then, based on Lagrangian equation, a six-degree-of-freedom dynamics model of the small UAV parachute recovery system is established. Finally, by comparing the simulation results with the experimental results, it is found that they are consistent, which verifies the accuracy of the model. The model established in this paper can provide some references for the formulation of recycling strategy and the parachute parameters selection for the small UAV parachute recovery system.