水空两栖扑翼无人飞行器设计与动力学特性研究

       水空两栖无人飞行器既可以在空中飞行，又可以在水下潜航，在军事侦察、水质监测等领域都有广阔的应用前景。但是，现有的水空两栖无人飞行器的结构与动力系统都存在一定的水空兼容性问题。自然界中的部分鸟类和蝠鲼科生物可以在水和空气中通过翅膀或胸鳍进行扑翼运动，这为水空两栖无人飞行器的研制提供了新的思路。基于上述背景，本文开展新型水空两栖无人飞行器布局形式设计，同时开展二维扑翼仿真，探究不同的运动轨迹和运动参数对水动力和气动力特性的影响规律，最后开展拖曳水池实验，探究扑翼不同运动轨迹和运动参数对水动力特性的影响规律。本文的主要内容如下：
       针对水空两栖无人飞行器推进系统兼容性和跨介质转换问题，提出了一种兼
具固定翼模式和扑翼模式的水空两栖无人飞行器布局形式，飞行器分为内翼和外
翼，内翼段为固定翼，外翼段为扑翼。当外翼段不动，飞行器可视为固定翼飞行器，通过平尾进行俯仰控制，通过方向舵进行偏航和滚转控制。外翼段采用鳍条机构，可以实现上下扑动和扭转变形。通过改变扑翼运动参数可以使扑翼产生在水下推进所需的推力和空中飞行所需的升力，实现了推进系统的水空兼容性。内外翼之间通过盘状轴承进行连接，实现前后划动。飞行器内翼段安装一对旋向相反的螺旋桨，以提供出水复位所需的拉力，同时两个螺旋桨旋转方向相反可以抵消反扭力矩，提高出水复飞的稳定性。开展了飞行器气动计算，并通过迭代优化对飞行器进行了纵向和横侧向气动布局优化，最终飞行器最大升力系数提升了10.55%，横滚静稳定性导数由0.0003 减小至-0.0016。
       开展了扑翼二维流体仿真，探究了不同弯度幅值、不同攻角幅值、不同扑动频率等参数下扑翼的动力学特性。对于本文开展的仿真，二自由度水下最大推进效率为56.34%，三自由度水下为42.03%。
        设计并制作了扑翼实验样机，对样机进行了物理可实现性验证，根据物理可实现性验证结果制定了实验方案，探究了三维扑翼在不同扑动轨迹下，不同的运动参数对水动力性能的影响，实验所取得的二自由度对称扑动下最高效率为40.16%，在物理可实现性条件下三自由度对角扑动实验取得的最高效率为22.05%。为水空两栖扑翼无人飞行器设计与控制提供理论基础。

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