水空跨域多模态共轴无人机设计

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

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。

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 hy⁃drodynamic 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 manu⁃factured,and is validated in multiple modes including submersion-resurfacing,aerial flight,and cross-medium opera⁃tions.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.