跨介质UAV水面滑跳转向特性建模与仿真

跨介质无人驾驶飞行器(UAV)飞行处于近水面,无法采用常规UAV的气动舵面提供转向力,导致转向困难,机动性较差.基于空气动力学、经典势流理论和二元平面滑行理论,提出了UAV水面滑跳转向方法,建立了跨介质UAV滑跳转向飞行动力学模型,并进行了仿真计算,重点研究了跨介质UAV滑跳转向特性及其影响因素,给出了抑制UAV横滚的解决措施.仿真结果表明,跨介质UAV入水角和固定舵角在滑跳转向过程中对自身姿态及其弹道形态均有较大影响.该结果可以为跨介质UAV提供方案总体设计、弹道规划、可靠性设计和控制系统设计理论依据和计算方法.

Modeling and Simulation of Dynamic Characteristics of Slide Jump Steering Trajectory for Trans-media UAV

A trans-media unmanned aerial vehicle （UAV）, flying near water surface, cannot obtain steering force by conventional air rudder, which results in difficult steering and poor maneuverability of the UAV. A slide jump steering method of the UAV on water surface and a dynamic model of slide jump steering flying of the UAV are hence proposed in this paper on the basis of the aerodynamics, the classic potential flow theory, and the two-element plane sliding theory The slide jump steering characteristics of the UAV and the influencing factors are simulated with the model and ana- lyzed in detail. Moreover, some approaches for inhibiting UAV roll are given. Simulation results show that the wa- ter-entry angle and the fixed rudder angle of the UAV impose significant effects on its posture and trajectory pattern in the process of slide jump steering. This study may provide theoretical and calculation foundation for the UAV＇s con- ceptual overall design, trajectory planning, flight reliability design and flight control system design.