无人机自主滑翔中的模式切换逻辑研究  

Research on mode switch logic in Unmanned Aerial Vehicle autonomous soaring

作　　者：陈杰[1] 史志伟[1] 姚张奕 殷镇权 葛增冉 CHEN Jie;SHI Zhiwei;YAO Zhangyi;YIN Zhenquan;GE Zengran(Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学,南京210016

出　　处：《实验流体力学》2023年第3期113-123,共11页Journal of Experiments in Fluid Mechanics

摘　　要：无人机可以通过自主滑翔从自然环境里的热上升气流中获取能量,提高自身的续航能力。在此期间,模式切换是无人机自主滑翔的关键。针对该问题,设计了基于七孔探针和嵌入式技术的气流感知系统,该系统可测量流动角高达72°的气流方向和速度。基于气流感知系统,设计了控制无人机自主进入和脱离滑翔模式的模式切换逻辑。通过在风洞中模拟热上升气流,利用风洞虚拟飞行试验验证了所设计模式切换逻辑的可行性。试验结果表明:在不同速度的热上升气流作用下,基于气流感知系统设计的模式切换逻辑都能够使无人机自主进入和脱离滑翔模式,且在不同大小的滚转角指令下,模式切换逻辑都能够使无人机脱离滑翔模式。Unmanned Aerial Vehicle(UAV)can obtain energy from the thermal updraft in the natural environment by autonomous soaring to improve its endurance.Mode switch is the key of UAV autonomous soaring.For the mode switch problem in autonomous soaring of UAV,an airflow sensing system was designed based on the seven-hole probe and the embedded technology.The airflow sensing system could measure the direction and speed of airflow up to 72°flow angle.Based on the airflow sensing system,the mode switch logic was designed to control the UAV to enter and leave the soaring mode.Using the wind tunnel virtual flight experiment technology,the situation of UAV encountering thermal updraft was simulated in the wind tunnel to verify the feasibility of the designed mode switch logic.Results of the wind tunnel virtual flight experiment show that under the influence of different sizes of updraft,the mode switch logic designed based on the airflow sensing system could make the UAV enter and leave the soaring mode independently,and the mode switch logic could make the UAV leave the soaring mode under different roll angle commands.

关 键 词：无人机 热上升气流 七孔探针 气流感知系统 模式切换逻辑 风洞虚拟飞行 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]