小型跨介质无人机快速水空过渡设计与试验  

Design and experiments of water-to-air rapid transitions for a small cross-medium UAV

作　　者：张硕 张树新 代季鹏 ZHANG Shuo;ZHANG Shuxin;DAI Jipeng(School of Mechano-Electronic Engineering,Xidian University,Xi’an 710071,China)

机构地区：[1]西安电子科技大学机电工程学院,陕西西安710071

出　　处：《飞行力学》2021年第5期77-81,94,共6页Flight Dynamics

摘　　要：针对水空界面介质跨越问题,基于混合动力设计概念,设计了一种能够快速多次水空过渡跨介质的无人机。采用共轴的方式安装水下电机与空中电机,具备水下与空中两套动力系统。搭配气压传感器与水深传感器,采用卡尔曼滤波算法估计无人机位置速度信息,完成水空两介质中与水空过渡区域的控制与模式转换。设计制作测试样机,并进行了跨介质试验,验证了工作模式切换的连贯性,结果表明无人机可实现快速水空过渡,并能够满足出水、入水的机动循环。Aiming at the problem of medium crossing over water-air interface, based on the concept of hybrid power design, an unmanned aerial vehicle capable of multiple rapid water-air transitions across the medium was designed. The underwater motor and the aerial motor are installed in a coaxial manner, with two sets of power systems under water and in the air. With the air pressure and water depth sensors, the Kalman filter algorithm is used to estimate the position and speed information of the UAV to complete the control and mode conversion between the water and air medium and the water-air transition area. A test prototype was designed and produced for a cross-medium test to verify the continuity of working mode switching. The results show that the UAV can achieve rapid water-to-air transition, and can meet the maneuver cycle of water outlet and water inlet.

关 键 词：跨介质无人机 共轴式 卡尔曼滤波 

分 类 号：V279[航空宇航科学与技术—飞行器设计]