一种变轴螺旋桨水空跨域无人航行器设计和控制技术  

Design and Control Technology of a Variable Axis Propeller Unmanned Vehicle Cross Region of Water and Air

作　　者：昂海松[1] 王源 ANG Haisong;WANG Yuan(Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;Yangzhou University,Yangzhou 225127,China)

机构地区：[1]南京航空航天大学,南京210016 [2]扬州大学,扬州225127

出　　处：《无人系统技术》2022年第3期1-11,共11页Unmanned Systems Technology

摘　　要：针对海上无人航行器的任务需求,提出了一种多螺旋桨可变轴倾转的水空跨域无人航行器,给出了水下航行、水面滑行、空中旋翼模式、空中固定翼模式多种形态的总体设计和相应的飞行控制技术。在进行多种环境下无人航行器动力学分析的基础上,重点给出了各飞行区域中的控制策略,尤其是过渡阶段的控制。一是从水下航行向水面滑行的过渡控制,除了涉及到两相流,还运用了倾转螺旋桨与舵面融合控制技术。二是从垂直起飞旋翼模式到螺旋桨转至水平位置固定翼飞行模式的过渡控制。文中阐述了空中倾转旋翼过渡阶段的俯仰控制和高度保持控制方法,还给出了自行研制的试验样机并进行了飞行控制航行试验。通过从水下航行转到水面滑行的成功试验和在空中倾转旋翼过渡阶段成功实现高度保持的稳定飞行试验,验证了文中设计和控制方法的有效性。According to the mission requirements of marine unmanned aerial vehicle,a variable axis propeller unmanned vehicle cross region of water and air is designed.The overall design and corresponding flight control technology of underwater navigation,surface taxiing,air rotor mode and air fixed wing mode are given in this paper..Based on the dynamic analysis of UAV in various environments,it is focused on the control strategy in each flight area,especially in the transition stage.One is the transition control from underwater navigation to surface taxiing,which not only involves two-phase flow,but also uses the integrated control technology of tilting propeller and rudder.Another difficulty is the transition control from vertical takeoff rotor mode to horizontal fixed wing flight mode.The pitch control and altitude maintenance control methods in the transition stage of rotor tilt are described.This paper also presents the self-developed test prototype and its flight control navigation test.The effectiveness of the design and control method is verified by the successful test of changing from underwater navigation to surface taxiing and the successful flight test of height maintenance in the transition stage of tilt rotor in the air.

关 键 词：跨域无人航行器 水下航行 水面滑行 空中巡航 倾转旋翼 过渡控制 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1