水空跨域多模态共轴无人机设计
收稿日期: 2023-05-26
修回日期: 2023-08-08
录用日期: 2023-09-28
网络出版日期: 2023-10-12
基金资助
国家自然科学基金(62173275);优秀青年基金项目(62222313)
Design of water⁃air cross⁃domain multi⁃mode coaxial UAV
Received date: 2023-05-26
Revised date: 2023-08-08
Accepted date: 2023-09-28
Online published: 2023-10-12
Supported by
National Natural Science Foundation of China(62173275);Excellent Young Scientists Fund(62222313)
同时具备空中和水中运行模式的水空两栖无人机（AquaUAVs）可应用于民用和军事领域，如海洋环境调查、岛礁巡逻监测等，其具备广阔发展空间。为了实现从水下运载平台的装载和发射，提出了一种两栖无人机——代号为ABDragon，它拥有3种工作模式：浅海海底潜伏、水面漂浮和空中飞行。首先，在总体设计方面，ABDragon采用了共轴动力以及大长细比旋成体布局以及模块化舱室设计；通过设置一个深度控制舱从而调整重力与浮力之间的关系，进而实现水中的下潜、上浮；通过合理布局舱室位置进而获得系统的水动力学稳定性，保证水中下潜、漂浮全过程中的姿态稳定性。其次，完成了飞行动力学的建模和水中稳定性分析，并且基于L1自适应控制方法设计了飞行控制律。最终，制造一个原理样机并进行了包括下潜-上浮、空中飞行、跨介质等多模态验证，试验验证了ABDragon可以在2 s内完成跨域运行过程，其飞行高度控制精度为8 cm，角度控制精度为2°，并且在水中运行全过程中均能保持稳定竖直的姿态，验证了设计的有效性。
王琛 , 惠倩倩 , 张帆 . 水空跨域多模态共轴无人机设计[J]. 航空学报, 2023 , 44(21) : 529047 -529047 . DOI: 10.7527/S1000-6893.2023.29047
The Amphibious Unmanned Aerial Vehicle （AquaUAV）， capable of operating in both aerial and underwater modes， holds great potential for applications in civilian and military domains. Its uses span from marine environmental surveys to island and reef patrol monitoring， showcasing its expansive development possibilities. In order to enable loading and launching of the vehicle from an underwater platform， this article introduces an amphibious drone called “ABDragon”， which features three operational modes： shallow seabed submersion， water surface floating， and aerial flight. To begin with the overall design， ABDragon employs coaxial propulsion， a high aspect ratio fuselage layout， and modular cabin design. By incorporating a depth control cabin， the relationship between gravity and buoyancy can be adjusted， facilitating submersion and surfacing in water. Thoughtful cabin positioning enhances the system’s hydrodynamic stability， ensuring stable posture throughout the entire process of submersion and floating underwater. Furthermore， modeling of flight dynamics and analysis of underwater stability of ABDragon are conducted. Based on the L1 adaptive control method， the flight control laws are developed. Ultimately， a prototype of ABDragon is manufactured， and is validated in multiple modes including submersion-resurfacing， aerial flight， and cross-medium operations. The experiments show that ABDragon， capable of completing cross-domain operations within 2 s， attains a flight altitude control precision of 8 cm and an angular control precision of 2° and maintains a consistently stable vertical posture during underwater operation， thereby validating the effectiveness of the design.
Key words： amphibious aircraft; modular cabin; flight experiment; cross-domain; coaxial UAV
| 1 | 唐胜景， 张宝超， 岳彩红， 等. 跨介质飞行器关键技术及飞行动力学研究趋势分析［J］. 飞航导弹， 2021（6）： 7-13. |
| TANG S J， ZHANG B C， YUE C H， et al. Research trend analysis of key technologies and flight dynamics of transmedia aircraft［J］. Aerodynamic Missile Journal， 2021（6）： 7-13 （in Chinese）. | |
| 2 | 蔡志勇， 石含玥， 赵红军， 等. 水陆两栖飞机灭火飞行仿真系统构建与仿真［J］. 航空学报， 2023， 44（6）： 227036. |
| CAI Z Y， SHI H Y， ZHAO H J， et al. Construction and simulation of amphibious aircraft fire-fighting flight simulation system［J］. Acta Aeronautica et Astronautica Sinica， 2023， 44（6）： 227036 （in Chinese）. | |
| 3 | YANG X B， WANG T M， LIANG J H， et al. Survey on the novel hybrid aquatic-aerial amphibious aircraft： Aquatic unmanned aerial vehicle （AquaUAV）［J］. Progress in Aerospace Sciences， 2015， 74： 131-151. |
| 4 | GILAD M， SHANI L， SCHNELLER A， et al. Waterspout-advanced deployable compact rotorcraft in support of special operation forces［C］∥ 48th Israel Annual Conference on Aerospace Sciences 2008. 2008： 1566-1589. |
| 5 | TéTREAULT é， RANCOURT D， DESBIENS A L. Active vertical takeoff of an aquatic UAV［J］. IEEE Robotics and Automation Letters， 2020， 5（3）： 4844-4851. |
| 6 | EUBANK R D. Autonomous flight， fault， and energy management of the flying fish solar-powered seaplane［D］. Michigan： University of Michigan， 2012. |
| 7 | HOU T G， YANG X B， SU H H， et al. Design and experiments of a squid-like aquatic-aerial vehicle with soft morphing fins and arms［C］∥ 2019 International Conference on Robotics and Automation （ICRA）. Piscataway： IEEE Press， 2019： 4681-4687. |
| 8 | JANES I. US forces eye switchblade lethal aerial ammunition［J］. Jane's International Defence Review， 2011， 7： 16. |
| 9 | YAO G， LIANG J， WANG T， et al. Submersible unmanned flying boat： Design and experiment［C］∥ IEEE International Conference on Robotics & Biomimetics. Piscataway： IEEE Press， 2015. |
| 10 | YANG X B， WANG T M， LIANG J H， et al. Numerical analysis of biomimetic gannet impacting with water during plunge-diving［C］∥ 2012 IEEE International Conference on Robotics and Biomimetics （ROBIO）. Piscataway： IEEE Press， 2013： 569-574. |
| 11 | PELOQUIN R A， THIBAULT D， DESBIENS A L. Design of a passive vertical takeoff and landing aquatic UAV［J］. IEEE Robotics and Automation Letters， 2017， 2（2）： 381-388. |
| 12 | ZUFFEREY R， ANCEL A O， FARINHA A， et al. Consecutive aquatic jump-gliding with water-reactive fuel［J］. Science Robotics， 2019， 4（34）： eaax7330. |
| 13 | WEISLER W， STEWART W， ANDERSON M B， et al. Testing and characterization of a fixed wing cross-domain unmanned vehicle operating in aerial and underwater environments［J］. IEEE Journal of Oceanic Engineering， 2018， 43（4）： 969-982. |
| 14 | HAMZEH A， IYAD M， OSAMAH R. Loon copter： Implementation of a hybrid unmanned aquatic?aerial quadcopter with active buoyancy control［J］. Journal of Field Robotics， 2018， 35（5）： 764-778. |
| 15 | LYU C X， LU D， XIONG C K， et al. Toward a gliding hybrid aerial underwater vehicle： Design， fabrication， and experiments［J］. Journal of Field Robotics， 2022， 39（5）： 543-556. |
| 16 | GAO A， TECHET A H. Design considerations for a robotic flying fish［C］∥ OCEANS'11 MTS/IEEE KONA. Piscataway： IEEE Press， 2011： 1-8. |
| 17 | RISTROPH L， CHILDRESS S. Stable hovering of a jellyfish-like flying machine［J］. Journal of the Royal Society Interface， 2014， 11（92）： 20130992. |
| 18 | IZRAELEVITZ J S， TRIANTAFYLLOU M S. A novel degree of freedom in flapping wings shows promise for a dual aerial/aquatic vehicle propulsor［C］∥ 2015 IEEE International Conference on Robotics and Automation （ICRA）. Piscataway： IEEE Press， 2015： 5830-5837. |
| 19 | CHEN Y F， HELBLING E F， GRAVISH N， et al. Hybrid aerial and aquatic locomotion in an at-scale robotic insect［C］∥ 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems （IROS）. Piscataway： IEEE Press， 2015： 331-338. |
| 20 | 李霞， 齐国元， 郭曦彤， 等. 高阶微分反馈控制及在四旋翼飞行器中的应用［J］. 航空学报， 2022， 43（12）： 326047. |
| LI X， QI G Y， GUO X T， et al. High-order differential feedback control and its application in quadrotor UAV［J］. Acta Aeronautica et Astronautica Sinica， 2022， 43（12）： 326047 （in Chinese）. | |
| 21 | QIN Y M， XU W， LEE A， et al. Gemini： A compact yet efficient Bi-copter UAV for indoor applications［J］. IEEE Robotics and Automation Letters， 2020， 5（2）： 3213-3220. |
| 22 | VALAVANI L. Review of “L1 adaptive control theory： Guaranteed robustness with fast adaptation”［J］. Journal of Guidance， Control， and Dynamics， 2011， 34（4）： 1283-1284. |
/
| 〈 |
|
〉 |
CJA