Modeling and model validation of a multi-body morphing air vehicle

This paper conceptually proposes a three-bearing articulated morphable multi-body air vehicle. Due to the deformation of its structure, the air vehicle can take off and land vertically and achieve omnidirectional flight. Compared with traditional air vehicles, the three-bearing articulated morphable multi-body air vehicle can reduce control costs, enhance attitude control capabilities, and improve maneuverability. This paper introduces the structure of the air vehicle, establishes the system coordinates, simplifies the joint angles using the triaxial coplanar conditions, and integrates aerodynamic forces with multi-rigid-body dynamics based on Lagrange mechanics to establish a system dynamics model incorporating aerodynamic forces. Finally, the nonlinear equations of the system are obtained and the accuracy of the model is verified through open-loop testing.