可变形倾转四旋翼无人机设计与飞行验证  

Design and Flight Verification of a Deformable Tilting Quadrotor UAV

作　　者：曹粟 喻煌超[1] 吴立珍 余立 高家隆 陆俊麒 CAO Su;YU Huangchao;WU Lizhen;YU Li;GAO Jialong;LU Junqi(College of Intelligence Science and Technology,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]国防科技大学智能科学学院,长沙410073

出　　处：《无人系统技术》2022年第4期109-118,共10页Unmanned Systems Technology

摘　　要：随着无人机平台技术的发展,新构型无人机设计成为国内外研究的热点。针对四旋翼无人机欠驱动、航时短等问题,提出了一种新型具有自适应折叠机翼的倾转四旋翼无人机平台设计方法。首先,介绍了当前国内外小型垂直起降无人机的研究进展;其次,详细介绍了该型无人机的总体和结构设计;然后,基于牛顿-欧拉法和典型的级联反馈控制方法对该无人平台开展建模和控制方法研究,并基于计算流体力学方法模拟和分析了该无人机的气动特性。最后,通过搭建原理样机、开展飞行试验,验证了该型无人机作为一种新型快速垂直起降平台的可行性和优势。结果表明,该平台的最大飞行速度和航时分别可达36 m/s与25 min。提出的设计方法对未来的新型垂直起降无人机设计具有借鉴意义。With the development of the technology of the UAV platform,the design of new configuration UAV is becoming a research hotspot.To solve the problems of under-actuation and low endurance of quadrotor UAVs,this paper proposes a new design method of tilting quadrotor UAV platform with adaptive folding wings.First,the current research status of small vertical take-off and landing UAVs is introduced.Secondly,the general and structural design of this UAV is presented.Then,based on the Newton-Eulerian method and the typical cascade feedback control method,the modeling and control of the UAV are studied,and then the aerodynamic characteristics of the UAV are simulated and analyzed based on the computational fluid dynamics.Finally,the feasibility and advantages of this type of UAV are verified by building a prototype of the principle and carrying out flight tests.The results show the maximum flight speed and flight time of the platform can reach 36 m/s and 25 minutes,respectively.The proposed design method can be used as a reference for the design of new vertical take-off and landing UAVs in the future.

关 键 词：无人机设计 倾转旋翼 无人机控制 自适应机翼 可变形无人机 多模态 

分 类 号：V279[航空宇航科学与技术—飞行器设计]