无人地效飞行器的建模与控制

地效飞行器是贴近地面或水面飞行的特种飞行器，通过利用地面效应实现高速高效、大载重飞行，兼顾了船舶和普通飞行器的优点。国内外研究学者对大型载人地效飞行器的固有稳定性和控制研究进行了全面系统的研究，但是较少涉及到小型无人地效飞行器主动飞行控制的研究。因此，无人地效飞行器的构型设计以及开发与其相匹配的、具备鲁棒性强的飞行控制系统，对小型无人地效飞行器具有重要意义。
本研究通过仿生设计，借鉴鹈鹕的外形，设计了小型无人地效飞行器“Aero-WIG”。首先，利用气动分析软件完成建模，通过数值模拟得到了Aero-WIG 的气动数据，分析了其在地面效应区域的气动特性，并通过函数拟合建立了Aero-WIG气动模型。其次，基于螺旋桨的数值模拟数据建立推力模型, 并通过室内飞行实验测试验证了上述推力模型的准确性。结合Aero-WIG 气动模型、推力模型、推导的飞行动力学方程，在MATLAB 中建立了Aero-WIG 的纵向运动仿真模型。然后，基于PID 控制器和Aero-WIG 的控制方法，设计了5 种不同的精准高度控制系统。通过建立的仿真模型完成了控制系统的参数调节，并通过飞行仿真比较了不同控制器在无地面效应工况下的高度控制效果。通过分析结果，选出鲁棒性强的精准高度控制系统作为Aero-WIG 的纵向控制系统。最后，通过数值模拟仿真，对该控制系统在不同地面效应工况下的控制效果进行了全面系统的分析。结果表明，该控制系统在不同的地面效应区域都能够实现对Aero-WIG 高度的精准控制。

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