Framework for Numerical 6DOF Simulation with Focus on a Wing Deforming UAV in Perch Landing

The perch landing maneuver of a wing-deforming unmanned aerial vehicle (UAV) was investigated through a framework that uses the free, open-source OpenFOAM with 6 degrees of freedom (6DOF) simulations. The framework uses a moving grid to follow the trajectory of the UAV, reducing computational resources. Together with the ability to allow internal grid deformation, sliding mesh, and algorithm addition, it can accurately mimic the entire landing process. Different wing deformation speeds, additional elevator rotation and emulated propeller lift were added to the 6DOF simulations to investigate their effects on the landing maneuver. The results showed that the wing deformation retraction speed has a considerable effect on the trajectory and velocity of the UAV. The wing deformation reduced the forward velocity of the UAV by 32%, from 13.89 to 9 m/s. With the elevator control, the velocity was reduced to 5 m/s. Lastly, and an activation time of 1 s for the emulated propeller lift can further decrease the velocity to around 4.2 m/s. A better algorithm for the emulated propeller lift may be able to give a superior performance. This framework allows us to understand the underlying perch landing maneuver aerodynamics. It can also be used on problems like fast-turning agile and flapping wing flight.