一种用于辅助搜救的两栖飞行器设计

Aerial-aquatic amphibious UAV for surface-aided search and rescue

为提高水上搜救运作效率,结合飞行器速度快、视野广和船舶救援的特点,提出一种新型的用于辅助搜救的两栖飞行器设计方案.该飞行器采用船型结构,通过四旋翼提供飞行升力,倾转旋翼可提供水上航行的动力,飞行与水上航行两种工作模式的控制器分别采用串级PID和模糊自整定PID设计.数值仿真和飞行测试结果表明,系统的控制精度高,平稳性好,满足实际应用需求.

In order to improve the operational efficiency of surface-aided search and rescue,a new design scheme of amphibious UAV is proposed,which combines the characteristics of multi-rotor aircraft and ship The UAV’s body is designed as catamaran,with four rotors providing flight lift and tilting rotors providing power for navigation on water.The flight and navigation controllers are designed by cascade PID and fuzzy self-tuning PID respectively.Numerical simulation and actual flight test are performed.The controller has high control precision and good system stability,which meets the practical application requirements.