水空跨域多模态共轴无人机设计

doi:10.7527/S1000-6893.2023.29047

Abstract

Abstract:

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

CLC Number:

Chen WANG, Qianqian HUI, Fan ZHANG. Design of water⁃air cross⁃domain multi⁃mode coaxial UAV[J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(21): 529047-529047.

Figures/Tables 23

Fig.1

Fig.2

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Table 1

Table 2

Fig.10

Table 3

Definition of symbols in Eqs. （1） and （2）

符号	定义
$ϕ, θ, ψ$	飞行器的姿态角
$p, q, r$	飞行器的角速度
$p ˙, q ˙, r ˙$	飞行器的角加速度
$m$	无人机重量
$I x x, I y y, I z z$	三轴转动惯量
$F z$	高度控制力
$M c = T p, T q, T r$	姿态角力矩控制输入
$d p, d q, d r$	角度力矩扰动
$g$	重力加速度
$S 1, S 2$	上/下旋翼的转动速度
$δ r o l l, δ p i t c h$	矢量架的桨盘倾角控制量
$l$	电机与飞行器重心之间的距离
$k q$	旋翼的反向扭矩系数

Table 3

Fig.11

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舱体名称	舱体高度/ cm	各舱段重心位置分布（自最顶端起）/cm	重量/ kg
推进系统	25	0.2	1.4
导航和通信舱	17.5	0.41	1.3
深度控制舱	28	0.68	1.6
飞行控制和能源舱	24	0.97	4.7

参数	规格
总高度/cm	105
起飞重量/kg	9
共轴推进系统最大推力/N	140
原型样机直径/cm	13
浮心与重心距离（水面稳定参数）/cm	7
水囊容积/ml	400
有效载荷重量/kg	1.2
锂电池重量/kg	2
共轴旋翼/in	27×88
水泵重量/g	105
水泵功率/W	8

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[2]	Yongjie ZHANG, Bo CUI, Mingzhen WANG, Chuzhe ZHANG, Linyin LUO, Xiangming CHEN, Xiaochuan LIU. Research progress of amphibious aircraft water landing test and theoretical analysis methods [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(21): 528665-528665.
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[6]	LU Yujin, XIAO Tianhang, DENG Shuanghou, ZHI Haolin, ZHU Zhenhao, LU Zhaoyan. Effects of initial conditions on water landing performance of amphibious aircraft [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(7): 124483-124483.
[7]	WANG Jing, GU Weibo, DOU Liya. Leader-Follower formation control of multiple UAVs with trajectory tracking design [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(S1): 723758-723758.
[8]	TIAN Wenpeng, XIA Feng, SONG Pengfei, ZHANG Tuo, YANG Pengfei. Load balancing for wing deformation optimization in amphibious aircraft static test [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(11): 223956-223956.
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[10]	SHEN Zhengyang, CHEN Xiaoming, HUANG Lingcai. Challenges for aircraft design due to special mission models of large-scale amphibious aircraft [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(1): 522400-522400.
[11]	DUAN Xupeng, SUN Weiping, WEI Meng, YANG Yong. Numerical simulation of amphibious aircraft taxiing at high speed on water using OpenFOAM [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(1): 522330-522330.

Design of water⁃air cross⁃domain multi⁃mode coaxial UAV

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