This paper presents a theoretic implementation method of Morphing Unmanned Submersible Aerial Vehicle （MUSAV）, which can both submerge in the water and fly in the air. Two different shapes are put forward so that th...This paper presents a theoretic implementation method of Morphing Unmanned Submersible Aerial Vehicle （MUSAV）, which can both submerge in the water and fly in the air. Two different shapes are put forward so that the vehicle can suit both submergence and flight, considering the tremendous differences between hydrodynamic configuration and aerodynamic configuration of a vehicle. The transition of the two shapes can be achieved by using morphing technology. The water-to-air process, including water-exit, morphing, take-off and steady flight, is analyzed. The hydrodynamic and aerodynamic model of the vehicle exiting the water surface obliquely and then taking off into the air has been founded. The control strategy after morphing is analyzed and the control method is given. Numerical method is used to validate the motion model of the water-exit process. Results of simulations show the validity of the proposed model and the feasibility of MUSAV in theory.展开更多
In this paper,a novel version of six-degree-of-freedom nonlinear model for transport aircraft motion in cargo extraction is developed and validated by the theoretical mechanics and flight mechanics.In this model const...In this paper,a novel version of six-degree-of-freedom nonlinear model for transport aircraft motion in cargo extraction is developed and validated by the theoretical mechanics and flight mechanics.In this model constraint force and moment reflecting the flight dynamic effects of inner moving cargo are formulated.A methodology for a control law design in this phase is presented,which linearizes the aircraft dynamics making use of piecewise linearization and utilizes robust control technique for interval system to achieve specified handling qualities with robustness to uncertainties.The simulations demonstrate adequate effectiveness and excellent robustness of the proposed controller.展开更多
基金financially supported by the National Natural Science Foundation of China(Grant No.51541905)
文摘This paper presents a theoretic implementation method of Morphing Unmanned Submersible Aerial Vehicle （MUSAV）, which can both submerge in the water and fly in the air. Two different shapes are put forward so that the vehicle can suit both submergence and flight, considering the tremendous differences between hydrodynamic configuration and aerodynamic configuration of a vehicle. The transition of the two shapes can be achieved by using morphing technology. The water-to-air process, including water-exit, morphing, take-off and steady flight, is analyzed. The hydrodynamic and aerodynamic model of the vehicle exiting the water surface obliquely and then taking off into the air has been founded. The control strategy after morphing is analyzed and the control method is given. Numerical method is used to validate the motion model of the water-exit process. Results of simulations show the validity of the proposed model and the feasibility of MUSAV in theory.
基金supported by the Aviation Science Foundation of China (No. 2007ZD53053)
文摘In this paper,a novel version of six-degree-of-freedom nonlinear model for transport aircraft motion in cargo extraction is developed and validated by the theoretical mechanics and flight mechanics.In this model constraint force and moment reflecting the flight dynamic effects of inner moving cargo are formulated.A methodology for a control law design in this phase is presented,which linearizes the aircraft dynamics making use of piecewise linearization and utilizes robust control technique for interval system to achieve specified handling qualities with robustness to uncertainties.The simulations demonstrate adequate effectiveness and excellent robustness of the proposed controller.
