基于倾转电机的可折翼的水空两栖无人机设计与实现

doi:10.3901/JME.2024.02.272

机械工程学报 ›› 2024, Vol. 60 ›› Issue (2): 272-286.doi: 10.3901/JME.2024.02.272

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基于倾转电机的可折翼的水空两栖无人机设计与实现

刘阳¹, 王开松¹, 唐威², 秦可成², 张涛¹, 杨展³, 邹俊²

1. 安徽理工大学机械工程学院淮南 232001;
2. 浙江大学流体动力基础件与机电系统全国重点实验室杭州 310058;
3. 浙江科技学院机械与能源工程学院杭州 310023

收稿日期:2023-06-08 修回日期:2023-09-25 出版日期:2024-01-20 发布日期:2024-04-09
通讯作者: 唐威(通信作者)，男，1995年出生。博士，助理研究员。主要研究方向为柔性驱动及机器人应用。E-mail：weitang@zju.edu.cn
作者简介:刘阳，男，1998年出生。主要研究方向为无人机设计及应用。E-mail：410927635@qq.com
基金资助:
中国博士后科学基金面上(2023M733066)和全国博士后创新人才支持计划(BX20220267)资助项目。

Design and Implementation of Foldable Winged Amphibious UAV Based on Tilting Motor

LIU Yang¹, WANG Kaisong¹, TANG Wei², QIN Kecheng², ZHANG Tao¹, YANG Zhan³, ZOU Jun²

1. School of Mechanical Engineering, Anhui University of Science and Technology, Huainan 232001;
2. National Key Laboratory of Fluid Power Fundamentals and Mechatronic Systems University, Zhejiang University, Hangzhou 310058;
3. School of Mechanical and Energy Engineering, Zhejiang University of Science and Technology, Hangzhou 310023

Received:2023-06-08 Revised:2023-09-25 Online:2024-01-20 Published:2024-04-09

摘要/Abstract

摘要： 由于兼具着水下航行与空中飞行能力，近年来水空两栖无人机走入人们的视角。针对现有水空无人机面对复杂场景(水空界面、室内等)无法发挥作用的问题，提出一种结合旋翼机、固定翼与折翼机构的水空两栖无人机。设计一种基于倾转电机的三旋翼机构与基于舵机操控的折翼机构，利用倾转机构与折翼机构来实现固定翼与旋翼的模式切换以达到鸟类的飞行状态。对于自然界内的鸟类来说，翅膀的控制是十分重要的。在空中绝大部分鸟类都是利用翅膀的收折来控制飞行的转向与高度；当鸟类将要入水或者已经入水时，许多鸟类都是将翅膀完全收起以减小阻力面积来入水或者在水下运动。效仿鸟类收翅原理来设计折翼结构与倾转旋翼结构，使水空两栖无人机可实现旋翼与固定翼自由变换。为验证结构的可靠性，对无人机结构进行理论分析与仿真试验，以及空中与水下等复杂场景试验，试验结果表明，该无人机在空中可实现旋翼与固定翼的自由切换，在水下可实现水空界面的跨介质飞行，这些结果验证了方案的可行性与有效性。

关键词: 跨介质无人机, 倾转旋翼, 折翼设计

Abstract: Due to its underwater navigation and aerial flight capabilities, water-air amphibious drones have entered people's perspectives in recent years. Aiming at the problem that existing water-air UAVs cannot play a role in complex scenarios (such as water-air interface, indoor, etc.), a water-air amphibious UAV combining rotorcraft, fixed-wing and folding wing mechanism is proposed. This study design a three-rotor mechanism based on tilting motor and a folding wing mechanism based on servo control, and use the tilting mechanism and folding wing mechanism to realize the mode switching between fixed wing and rotor to achieve the flight state of birds. For birds in nature, wing control is very important. In the air, most birds use the folding of their wings to control the steering and altitude of flight. When birds are about to enter the water or have already entered the water, many birds enter the water or move underwater by retracting their wings completely to reduce the resistance area. This study imitate the principle of bird winging to design folding wing structure and tilting rotor structure, so that water-air amphibious UAVs can realize the free transformation of rotors and fixed wings. In order to verify the reliability of the structure, theoretical analysis and simulation experiments are carried out on the UAV structure, and complex scene experiments such as air and underwater are carried out, and the experimental results show that the UAV can realize the free switching between rotary wing and fixed wing in the air, and cross-media flight of the water-air interface under water, which verified the feasibility and effectiveness of the scheme.

Key words: transmedium UAV, tilting rotor, foldable wing design

中图分类号:

V279

刘阳, 王开松, 唐威, 秦可成, 张涛, 杨展, 邹俊. 基于倾转电机的可折翼的水空两栖无人机设计与实现[J]. 机械工程学报, 2024, 60(2): 272-286.

LIU Yang, WANG Kaisong, TANG Wei, QIN Kecheng, ZHANG Tao, YANG Zhan, ZOU Jun. Design and Implementation of Foldable Winged Amphibious UAV Based on Tilting Motor[J]. Journal of Mechanical Engineering, 2024, 60(2): 272-286.

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基于倾转电机的可折翼的水空两栖无人机设计与实现

Design and Implementation of Foldable Winged Amphibious UAV Based on Tilting Motor

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