无人机水下定点悬停平衡模块设计

Design of Fixed-point Hover Balance Module in UAV Underwater

无人机在水下针对作业任务,需要在不同位置定点悬停。文中对悬停状态的实现提出了悬停平衡模块设计的思想。对悬停水舱-螺旋桨模块进行了运动学分析;对四旋翼结构进行了动力学分析。分析表明,模块化的设计可以使横滚角和俯仰角控制在很小的范围内,而偏航角可以在很大范围内调节,无人机水下悬停可以得到较好的平衡调节。

UAV needs to be dot hovering in different locations for underwater task. This paper puts forward the idea of hovering balance module design to realize hover state. Kinematical analysis on the water tank - propeller module is carried out.Dynamic analysis of four rotor structure is carried out. Analysis shows that modular design can control the roll angle and pitching angle in a small range, and regulate yaw angle in a wide range.Underwater hovering drones can get better balance adjustment.