倾转四旋翼跨介质飞行器水面垂直起飞策略研究  

Research on vertical takeoff strategy on water surface of tiltrotor cross-domain unmanned vehicle

作　　者：聂星宇 胡志强[1,2] 孙浩添 耿令波 NIE Xing-yu;HU Zhi-qiang;SUN Hao-tian;GENG Ling-bo(The State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [3]中国科学院大学,北京100049

出　　处：《舰船科学技术》2022年第4期66-71,共6页Ship Science and Technology

摘　　要：针对跨介质飞行器研究领域目前存在的任务负载小以及近水面介质属性强非线性变化导致的推力损失问题,设计了一种倾转四旋翼跨介质飞行器构型,具有较大的起飞负载,并建立了倾转四旋翼跨介质飞行器近水面静力学模型;在控制策略上,设计了水面垂直起飞流程以及切换控制策略,等效提高了跨介质飞行器近水面推重比,并进一步增强了倾转四旋翼跨介质飞行器起飞过程的稳定性,最后进行实验验证。结果表明,设计的水面垂直起飞流程及切换控制策略,可以实现大负载下倾转四旋翼跨介质飞行器的水面垂直起飞过程。At present,there are some problems in the research of cross-domain unmanned vehicles(CUV),such as the strong nonlinear change of medium properties,and the difficulty of takeoff caused by thrust loss.Thus,a new configuration of tiltrotor cross-domain unmanned vehicle(TCUV)is proposed,and the dynamic model of vehicle near the water surface is established;Then,based on the dynamic model,the vertical take-off process on water surface is designed.The proposed process effectively improve the thrust to weight ratio near the surface of TCUV,and makes it possible for TCUV to carry out more loads.Moreover,in order to enhance the stability of the takeoff process of the vehicle,a switching control strategy are designed.Finally,vertical takeoff experiments on the surface are carried out.The successful experiments show that the vertical take-off process and switching control strategy designed in this paper is effective.

关 键 词：跨介质飞行器 倾转四旋翼 水面垂直起飞 

分 类 号：TP3-05[自动化与计算机技术—计算机科学与技术]