针对跨介质飞行器研究领域目前存在的任务负载小以及近水面介质属性强非线性变化导致的推力损失问题，设计了一种倾转四旋翼跨介质飞行器构型，具有较大的起飞负载，并建立了倾转四旋翼跨介质飞行器近水面静力学模型；在控制策略上，设计了水面垂直起飞流程以及切换控制策略，等效提高了跨介质飞行器近水面推重比，并进一步增强了倾转四旋翼跨介质飞行器起飞过程的稳定性，最后进行实验验证。结果表明，设计的水面垂直起飞流程及切换控制策略，可以实现大负载下倾转四旋翼跨介质飞行器的水面垂直起飞过程。
At present, there are some problems in the research of cross-domain unmanned vehicles(CUV), such as the strong nonlinear change of medium properties, and the difficulty of takeoff caused by thrust loss. Thus，a new configuration of tiltrotor cross-domain unmanned vehicle (TCUV)is proposed, and the dynamic model of vehicle near the water surface is established; Then, based on the dynamic model, the vertical take-off process on water surface is designed. The proposed process effectively improve the thrust to weight ratio near the surface of TCUV, and makes it possible for TCUV to carry out more loads. Moreover, in order to enhance the stability of the takeoff process of the vehicle, a switching control strategy are designed. Finally, vertical takeoff experiments on the surface are carried out. The successful experiments show that the vertical take-off process and switching control strategy designed in this paper is effective.
2022,44(4): 66-71 收稿日期：2021-03-19
DOI：10.3404/j.issn.1672-7649.2022.04.014
分类号：TP3-05
作者简介：聂星宇(1995-)，男，硕士研究生，研究方向为跨介质飞行器运动控制
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