Long-endurance amphibious unmanned aerial vehicle and attitude control method thereof

Abstract

The invention discloses a long-endurance amphibious unmanned aerial vehicle and an attitude control method thereof, and the long-endurance amphibious unmanned aerial vehicle can glide underwater for a long time and take off and land on the water surface and has huge potential in the aspects of ocean rescue, survey and reconnaissance and the like. According to the unmanned aerial vehicle, the layout design of a single hull and a single wing on a cantilever is adopted, an elevator and a rudder are omitted, the yaw attitude of the unmanned aerial vehicle is controlled through the differential speed of motors, the pitch attitude is controlled through the offset of the gravity center, and the attitude control stability of the unmanned aerial vehicle is ensured. The unmanned aerial vehicle has a submerging working mode and a flying working mode, in the submerging working mode, the unmanned aerial vehicle is driven in a net buoyancy mode, unpowered gliding is carried out underwater, the power loss is small, and the standby time is long. The unmanned aerial vehicle completes switching of working modes on the water surface, mode switching is efficient and stable, and the unmanned aerial vehicle has important innovative significance on underwater biological monitoring, resource exploration and sea area safety maintenance.

Description

technical field [0001] The invention relates to the technical field of sea and air amphibious unmanned aerial vehicles, in particular to a long-endurance amphibious unmanned aerial vehicle based on motor differential speed and gravity offset attitude control and an innovative design concept thereof. Background technique [0002] Sea and air amphibious drones refer to drones that can fly in the air as well as in water, organically combining the advantages of aircraft and submarines. In the field of UAV research, amphibious UAVs are an important research direction. The wider space makes UAVs more possibilities, and has great potential in marine rescue, survey and reconnaissance, etc. The technical key of the amphibious UAV is to meet the normal operation in the air and underwater, and at the same time, it can stably switch between the two modes of air flight and underwater navigation. At present, the existing amphibious UAVs lack effective research on the design of water entr...

AI Technical Summary

Problems solved by technology

At present, the existing amphibious drones lack effective research on the design of water entry and exit schemes, and lack of schemes that can take into account both air flight performance and underwater navigation performance. Due to the physical differences between the two working media, those working in the two media There is a huge difference in power devices. The air blades are generally slender and solid, while the water blades are wider. If you carry two kinds of power devices at the same time, you need to be equipped with two sets of power devices, which will increase the load of the drone virtually, and there will always be one The working efficiency of the set device is extremely low in the idle state, and the underwater blades cannot fly, so if the air blades are used alone to achieve amphibiousness, the resistance of the air blades in the water is relatively large, and it is easy to damage the motor and other equipment. The power generated by the leaf under water is limited, the propulsion efficiency is low, and the attitude adjustment is relatively difficult

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