一种具有变结构的轻量化陆空两栖平台技术研究  

Research on technology of a lightweight air-ground platform with variable structure

作　　者：张政 李兴玮[1] 赵贤发 ZHANG Zheng;LI Xingwei;ZHAO Xianfa(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：《兵器装备工程学报》2024年第7期105-114,共10页Journal of Ordnance Equipment Engineering

摘　　要：结合无人机空中飞行与无人车陆地行驶的功能特点,通过流体仿真、气动力学分析,设计了一种具有变结构功能的陆空两栖平台。采用隐藏式旋翼设计,有效降低了平台宽度,提高了地面行驶模态下的通过性。在此基础上,针对陆空两栖平台的飞行控制问题,对平台模型进行简化,并对平台参数进行优化和模型校核,验证了平台模型的有效性和可信度。设计了自抗扰控制(active disturbance rejection control, ADRC)方案,并进行了simulink仿真和原理样机测试。试验表明,所设计的陆空两栖平台兼具良好的路面行驶能力与空中飞行能力,具备一定的越障功能,为未来军事应用中飞行器长航时、大载重、强稳定性等功能的实现提供了技术参考。Based on the functional characteristics of UAV and UGV,an air-ground platform with variable structure function is designed through fluid simulation and aerodynamic analysis.The use of hidden rotor design effectively reduces the platform width and improves the possibility of ground travel.On this basis,in response to the flight control problem of air-ground platforms,the platform model is simplified,and the platform parameters are optimized,verifying the effectiveness and credibility of the platform model.The active disturbance rejection control(ADRC)scheme is designed,and the simulation and prototype test are carried out.The experiment shows that the designed air-ground platform has both good road driving ability and air flight ability,and has a certain obstacle crossing function,providing technical reference for the implementation of functions such as long endurance,heavy load and strong robustness in future military applications.

关 键 词：陆空两栖平台 变结构设计 旋翼设计 齿轮系 模型校核 ADRC 

分 类 号：V279[航空宇航科学与技术—飞行器设计]