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.
2025,47(8): 92-99 收稿日期：2024-6-5
DOI：10.3404/j.issn.1672-7649.2025.08.016
分类号：V279
基金项目：国家自然科学基金资助项目（52371327）
作者简介：董力阳(1996-),男,博士,研究方向为潜水器总体设计
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