海空跨域航行器动力学建模与入水轨迹优化  

Dynamic modeling and trajectory optimization for water entry of unmanned aerial-underwater vehicle

作　　者：董力阳 魏照宇 姚宝恒[1,3] 连琏[1,3] DONG Liyang;WEI Zhaoyu;YAO Baoheng;LIAN Lian(School of Oceanography,Shanghai Jiaotong University,Shanghai 200240,China;School of Naval Architecture,Ocean and Civil Engineering,Shanghai Jiaotong University,Shanghai 200240,China;The State Key Laboratory of Ocean Engineering,Shanghai Jiaotong University,Shanghai 200240,China)

机构地区：[1]上海交通大学海洋学院,上海200240 [2]上海交通大学船舶海洋与建筑工程学院,上海200240 [3]上海交通大学海洋工程国家重点实验室,上海200240

出　　处：《舰船科学技术》2025年第8期92-99,共8页Ship Science and Technology

基　　金：国家自然科学基金资助项目(52371327)。

摘　　要：结合无人飞行器(Unmanned Aerial Vehicle,UAV)和无人潜水器(Unmanned Underwater Vehicle,UUV)的特点,提出一种新型折叠翼海空跨域航行器(Unmanned Aerial-Underwater Vehicle,UAUV)。在常规潜水器动力学模型的基础上,推导UAUV入水过程中的时变水动力参数,得到完整的UAUV动力学模型。将UAUV的自由入水运动视为初值问题,以避免复杂的控制策略的切换,并对此问题进行优化求解,得到不同任务下最优初始俯仰角与攻角之间的关系。仿真结果表明,所建立的UAUV动力学模型合理,可以反映其入水运动的特征。In this paper,a novel proof-of-concept design for a folded-wing(UAUV) is proposed,which combines the features of UAV and UUV.The folded wings are adopted to reduce the underwater drag.Combining with the established dynamic model of standard submersible,the time-varying hydrodynamic parameters of during the underwater cruising and water entry process are deduced to get the full dynamic model.The water entry process of UAUV is regarded as a free motion to avoid the instability during the control switch and relevant trajectory optimization problem is studied.The relationship between the optimal origin pitch angle and the attacked angle of two tasks is obtained.The simulation results show that the dynamic model of UAUV is reasonable and can reflect the characteristics of water entry process.

关 键 词：海空跨域航行器 数值模拟 动力学建模 入水分析 轨迹优化 

分 类 号：V279[航空宇航科学与技术—飞行器设计]