CN108725778B - Amphibious unmanned aerial vehicle with duck wings and variable wing dihedral angles - Google Patents

Amphibious unmanned aerial vehicle with duck wings and variable wing dihedral angles Download PDF

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Publication number
CN108725778B
CN108725778B CN201810530624.2A CN201810530624A CN108725778B CN 108725778 B CN108725778 B CN 108725778B CN 201810530624 A CN201810530624 A CN 201810530624A CN 108725778 B CN108725778 B CN 108725778B
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wing
duck
aircraft
representing
wings
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CN108725778A (en
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梁建宏
黄晋国
王赫
徐大新
杨兴帮
杨海龙
王田苗
董忆雪
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Beihang University
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Beihang University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C35/00—Flying-boats; Seaplanes
    • B64C35/005—Flying-boats; Seaplanes with propellers, rudders or brakes acting in the water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C3/00—Wings
    • B64C3/38—Adjustment of complete wings or parts thereof
    • B64C3/42—Adjusting about chordwise axes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C35/00—Flying-boats; Seaplanes
    • B64C35/006—Flying-boats; Seaplanes with lift generating devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/12—Canard-type aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/25—Fixed-wing aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/10—Wings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/13—Propulsion using external fans or propellers
    • B64U50/14—Propulsion using external fans or propellers ducted or shrouded

Abstract

The invention discloses an amphibious unmanned aerial vehicle with a duck wing and variable wing dihedral, which at least comprises an organic body system, an aircraft control system and a propulsion system; a left duck wing (4B) and a right duck wing (4A) are added in the body system; a duck wing attitude control instruction matched with the left duck wing (4B) and the right duck wing (4A) is added in the aircraft control system; the front end of the machine body is provided with a left duck wing (4B) and a right duck wing (4A); the canard wing installation distance H is 30% x H, and H represents the fuselage length. The wing control of the amphibious aircraft is improved to enable the angle change of the duck wing to guide the amphibious aircraft to move state information such as the navigation attitude and the like, and the operation capacity of the amphibious aircraft in complex weather and unfamiliar hydrological environments is improved.

Description

Amphibious unmanned aerial vehicle with duck wings and variable wing dihedral angles
Technical Field
The invention relates to an aircraft appearance design, in particular to an amphibious unmanned aircraft with a duck wing and a variable wing dihedral angle. The invention aims to control the posture of the canard wing by an aircraft control system (or named a flight control system) in the unmanned aerial vehicle so as to adjust the water inlet and outlet flight of the unmanned aerial vehicle.
Background
The amphibious aircraft is used as an air and underwater unmanned intelligent mobile platform, the maneuvering performance in the air is relatively mature, the underwater navigation performance is still to be mature, and particularly, the amphibious aircraft has higher requirements on the maneuvering performance of the underwater aircraft in the areas with complicated submarine topography and hidden currents, waves and surges. To complete the tasks of measuring certain parameters of the ocean, investigating the seabed information and investigating the fixed point, the underwater vehicle is required to have good maneuverability and stability under the low-speed condition.
Seaplanes taking off and landing on water and other aircraft such as ground effect aircraft, hydrofoils and the like (hereinafter referred to as "aircraft") all utilize the bernoulli effect in hydrodynamics, that is, a specific section of an aircraft body (such as wings, hydrofoils or floats) immersed in fluid is utilized, the fluid generates flow velocity difference between an upper part and a lower part when passing through the section, the flow velocity difference generates pressure difference, and the pressure difference forms power for supporting the aircraft to leave the ground (water surface) so as to realize soaring and suspending. The nomenclature of such power generated by flow rate differences depends on the form of the fluid medium, if it is air, it is called aerodynamic; if the fluid medium is water, it is referred to as hydrodynamic.
However, the existing amphibious aircraft mainly takes off and lands vertically in taking off and entering water, is not flexible enough, has great power requirements, causes the cost of an engine to be high, and the like, and meanwhile, the power of the aircraft is mostly a propeller or a turbojet engine, the power direction is not adjustable, and the amphibious performance is poor. And the structure of the machine body is fixed, and the same structure is difficult to solve in the places where the two environments of water and air are contradictory.
Disclosure of Invention
Aiming at the problems, the amphibious aircraft with the canard wings and the variable dihedral angles on the wings designed by the invention solves the following problems:
(A) the aerodynamic assembly is composed of two ducted fans with adjustable directions, and the underwater power assembly is composed of an underwater propeller. Therefore, the thrust is vector thrust, and the direction control of the thrust in the air and in water is more convenient.
(B) The wing dihedral angle is variable, so that the corresponding wing dihedral angle can be adjusted in the air and under water to reduce the adverse effect of the wing lift force on attitude control.
(C) The postures of the robot body under water and in the air are controlled through the canard wing, so that the robot is more flexible and has larger control moment.
The invention relates to an amphibious unmanned aerial vehicle with a duck wing and variable wing dihedral, which at least comprises an organic body system, an aircraft control system and a propulsion system; the method is characterized in that: a left duck wing (4B) and a right duck wing (4A) are added in the body system; the left main wing (2B) and the right main wing (2A) with the same structure are in a delta wing layout, are thin wing type and can change the dihedral angle.
A duck wing attitude control instruction matched with the left duck wing (4B) and the right duck wing (4A) is added in the aircraft control system;
a left duck wing (4B) and a right duck wing (4A) which are identical in structure are symmetrically arranged on the amphibious aircraft; the canard wing installation distance H is 30% x H, and H represents the fuselage length.
The propulsion system consists of ducted fan power and underwater propeller power.
The invention discloses an amphibious unmanned aerial vehicle with a duck wing and a variable dihedral angle on the wing, which is characterized in that: the duck wing posture control command comprises the following steps,
the water inlet attitude control instruction for controlling the amphibious aircraft through the duck wing is F1d1+F2d2＝Jα1；F1Showing the propulsive force of the propeller when entering water; d1Representing the center of mass to F1The vertical distance of the line of action; f2Showing the acting force of the duck wing when entering water; d2Representing the center of mass to F2The vertical distance of the line of action; j represents the moment of inertia of the aircraft relative to the center of mass; alpha is alpha1Representing the angular acceleration upon entry into the water; the water inlet angle formed by the duck wings (4A, 4B) and the ducted fans (3A, 3B) in the water inlet posture and the water surface is 30-45 degrees; meanwhile, the main wings (2A and 2B) are dihedral angles;
the command for controlling the submerging attitude of the amphibious aircraft through the canard wing is F3d3-F4d4＝Jα2And α is2＝0；F3Representing the propulsive force of the propeller during the submergence; d3Representing the center of mass to F3The vertical distance of the line of action; f4The acting force of the duck wing during the diving is shown; d4Representing the center of mass to F4The vertical distance of the line of action; j represents the moment of inertia of the aircraft relative to the center of mass; alpha is alpha2Representing angular acceleration during the dive;
the water outlet attitude control instruction for controlling the amphibious aircraft through the duck wing is F6d6＝Jα3；F6Showing the acting force of the duck wing when water exists; d6Representing the center of mass to F6Line of actionThe vertical distance of (d); j represents the moment of inertia of the aircraft relative to the center of mass; alpha is alpha3Representing the angular acceleration of the water; the duck wings (4A, 4B) and the ducted fans (3A, 3B) in the water outlet posture form a water outlet angle of 30-45 degrees with the water surface at the same time; meanwhile, the main wings (2A and 2B) are dihedral angles;
the flight attitude control instruction for controlling the amphibious aircraft through the canard wing is F7d7-F8d8＝Jα4And α is4＝0；F7Representing the propulsive force of the propeller in flight; d7Representing the center of mass to F7The vertical distance of the line of action; f8Representing the acting force of the canard during flying; d8Representing the center of mass to F8The vertical distance of the line of action; j represents the moment of inertia of the aircraft relative to the center of mass; alpha is alpha4Representing angular acceleration in flight; the duck wings (4A and 4B) and the ducted fans (3A and 3B) in the flying postures are raised by 8-12 degrees at the same time, the aircraft body head (1A) is raised, and the amphibious unmanned aerial vehicle flies in an elevation angle.
The amphibious aircraft with the duck wings and the variable dihedral angles on the wings has the advantages that:
the ducted fan and water slurry power system can realize vector thrust control, is more flexible in control of a thrust line, and is beneficial to realizing attitude control (attitude control by using the canard wings).
The design of the variable dihedral main wing (namely the dihedral angle of the wing is variable) can help the wing to be exposed out of the water surface during takeoff, and is helpful for takeoff; when the airplane enters water, the wings are folded downwards, so that the dihedral angles are negative and become dihedral angles, the adverse effect of the lifting force of the wings of the airplane on diving is reduced, and the airplane is favorable for diving.
The invention adopts the design of the duck wing, can provide larger control moment, can help the aircraft take off and dive, and provides corresponding supporting force and pressure.
The amphibious aircraft designed by the invention belongs to a vertical take-off and landing fixed wing unmanned aerial vehicle.
Drawings
Fig. 1 is a perspective view of the amphibious unmanned aerial vehicle with canard wings and variable dihedral angles.
Fig. 1A is another perspective view of the amphibious unmanned aerial vehicle with canard wings and variable dihedral angles.
Fig. 1B is a perspective view of another view of the amphibious unmanned aerial vehicle with canard wings and variable dihedral angles of wings according to the invention.
Fig. 1C is a top view of the amphibious unmanned aerial vehicle with canard wings and variable dihedral angles.
Fig. 1D is a left side view of the amphibious unmanned aerial vehicle with canard wings and variable dihedral angles.
FIG. 2 is a water inlet attitude diagram of the amphibious unmanned aerial vehicle with the canard wings and the variable dihedral angles of the wings.
FIG. 3 is a submerging attitude diagram of the amphibious unmanned aerial vehicle with duck wings and variable dihedral angles on the wings.
FIG. 4 is a water outlet attitude diagram of the amphibious unmanned aerial vehicle with duck wings and variable dihedral angles of wings.
FIG. 5 is a flight attitude diagram of the amphibious unmanned aerial vehicle with canard wings and variable dihedral angles.
Fig. 6A is a front view of the water-entry attitude of the amphibious unmanned aerial vehicle with canard wings and variable dihedral angles.
Fig. 6B is a front view of the submerging posture of the amphibious unmanned aerial vehicle with canard wings and variable dihedral angles on the wings.
Fig. 7A is a front view of the water-out attitude of the amphibious unmanned aerial vehicle with duck wings and variable dihedral angles of wings.
Fig. 7B is a front view of the flight attitude of the amphibious unmanned aerial vehicle with canard wings and variable dihedral angles.
Fig. 8A is a structural view of the right duck wing of the present invention.
Fig. 8B is another perspective view of the right duck wing of the present invention.
Fig. 9A is a structural view of the left duck wing of the present invention.
Fig. 9B is another perspective view of the left duck wing of the present invention.
Fig. 10 is a wing dihedral angle structure diagram of the amphibious unmanned aerial vehicle with canard wings and variable wing dihedral angles according to the present invention.
1. Fuselage body 1A. machine body head 1B. tail of fuselage
2A. right main wing 2B. left main wing 3A right ducted fan
3B left ducted fan 4A. right duck wing 4A1, right connecting rod
4A2. right duck wing airfoil body 4A3. right duck wing bottom panel 4B. left duck wing
4B1, left connecting rod 4B2. left duck wing airfoil body 4B3. left duck wing bottom panel
5. Underwater motor and propeller 6. Rudder
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The unmanned aerial vehicle system comprises a ground system, an aircraft system, a task load and use support personnel of the unmanned aerial vehicle, and is compiled with reference to page 2-3 of 1 st version of 1 st printing of unmanned aerial vehicle system and combat use in 3 months in 2009, Weiruixuan and Lischren. The aircraft structure generally consists of a fuselage, wings, a tail wing, landing gears and a control mechanism, and is described in reference to pages 7-8 of "aircraft structural design" version 1 of year 4/2010, written by xu east, xu chao and zheng xiao ya.
The amphibious unmanned aerial vehicle with the duck wings and the changeable wing dihedral angle, which is designed by the invention, comprises a right duck wing 4A, a left duck wing 4B, a right ducted fan 3A, a left ducted fan 3B, an underwater motor and a propeller 5 besides a basic fuselage, wings, an empennage, an undercarriage and an operating mechanism. Referring to fig. 1, fig. 1A, fig. 1B, fig. 1C, fig. 1D, fig. 6A, fig. 6B, fig. 7A, and fig. 7B, the amphibious unmanned aerial vehicle designed by the present invention includes a fuselage 1, wings (i.e., a right main wing 2A and a left main wing 2B), a right ducted fan 3A, a left ducted fan 3B, a right canard wing 4A, a left canard wing 4B, an underwater motor and propeller 5, and a rudder 6. In the invention, the design of main wings (2A, 2B) with variable dihedral angles is adopted, the canard wings (4A, 4B) are matched to control the attitude of the aircraft in the air and in the water, and the propulsion system adopts vector power combining ducted fan power and underwater propeller power. The wings (2A and 2B) are in a delta wing layout and are thin wing type, so that the displacement of the fuselage is reduced, and the dihedral angle can be changed.
The amphibious unmanned aerial vehicle designed by the invention adopts the canard wings (4A and 4B) to realize the control of the water outlet attitude and the water inlet attitude and provide larger control torque, which is determined by the installation positions of the canard wings (4A and 4B). Let the total length of the fuselage 1 be denoted as H, i.e., the distance from the fuselage nose 1A to the fuselage tail 1B (as shown in fig. 1C, simply referred to as the fuselage length H). The mounting distance of the canard wings (4B, 4A) is denoted as h (as shown in fig. 1B, 1C, it is simply referred to as canard wing mounting distance h), and the canard wing mounting distance h is also the distance between the fuselage nose 1A and the front end faces of the canard wings (4A, 4B). In order to realize different attitude control of water outlet and water inlet and provide larger control moment, the mounting distance H of the canard wing is 30 percent multiplied by H.
Referring to the structures of the duck wing shown in fig. 8A, 8B, 9A and 9B, the duck wing designed by the invention has a configuration that the front part is thick and the back part is thin, and the wing root is smaller as the duck wing is farther away from the machine body.
The invention relates to an improvement of an existing amphibious unmanned aerial vehicle, which is characterized in that a left duck wing 4B and a right duck wing 4A which are identical in structure are symmetrically designed at the front end of a vehicle body 1. The canard wings (4A, 4B) are used for controlling different postures (water inlet, water outlet and the like) to achieve that the dihedral angles of the main wings (2A, 2B) can be changed, as shown in figure 10. The control of the main wing of the amphibious aircraft is improved, the flight attitude and other motion state information of the amphibious aircraft is guided by matching with the attitude angle change of the duck wing, the longitudinal attitude and the flight speed are adjusted by double adjustment of the attitude and the power, and the operation capacity of the amphibious aircraft in complex weather and strange hydrological environments is improved.
In the present invention, as shown in fig. 1, 1A, and 1B, the front end of the fuselage 1 is referred to as a fuselage nose 1A, and the rear end of the fuselage 1 is referred to as a fuselage tail 1B. An underwater motor and a propeller 5 are arranged on the tail part 1B of the machine body. The rudder 6 is installed on the chord line of the fuselage 1 and is located at the rear end of the fuselage 1. The fuselage divides into about with the chord line, and right duck wing 4A, right ducted fan 3A and right main wing 2A distribute in the right of fuselage 1, and left duck wing 4B, left ducted fan 3B and left main wing 2B distribute in the left side of fuselage 1.
In order to realize the attitude control of the amphibious aircraft with the canard wing and the changeable wing dihedral angle, which is designed by the invention, and provide larger control moment, the left canard wing 4B and the right canard wing 4A are symmetrically arranged at two sides of the aircraft body 1 and are positioned at the position of the aircraft body which is 30% close to the head of the aircraft body, namely H is 30% multiplied by H.
In the present invention, as shown in fig. 1, 1A, 6B, 7A, and 7B, the right main blade 2A and the left main blade 2B have the same configuration and have a delta blade layout. Referring to fig. 1, 1A, 6B, 7A, 7B, 8A, 8B, 9A, and 9B, the right and left duck wings 4A and 4B have the same structure, and have a configuration in which the front is thick and the rear is thin, and the base is smaller as they are farther from the body. The right canard wing 4A is fixed with the fuselage 1 through a right connecting rod 4A1, and the right canard wing body 4A2 is driven to move upwards or downwards through a right connecting rod 4A1, so that the change of water inlet or water outlet is achieved. Left duck wing 4B is fixed with the machine body 1 through a left connecting rod 4B1, and a left canard wing-shaped body 4B2 is driven to move upwards or downwards through a left connecting rod 4B1, so that the change of water inlet or water outlet is achieved. When flying in the air, the head part 1A of the aircraft body is raised, and the canard wings (4A, 4B) and the ducted fans (3A, 3B) are raised by 8-12 degrees at the same time, and the flight angle of the canard wings is4The angle between the bottom plate of the duck wing (the right duck wing bottom plate 4B3 in fig. 8B and the left duck wing bottom plate 4A3 in fig. 9B) and the bottom plate of the fuselage 1 at rest is defined as the angle (shown in fig. 5). When the amphibious unmanned aerial vehicle designed by the invention is static, the bottom panel of the vehicle body 1 and the bottom panel of the duck wing are kept parallel, and the duck wing is controlled by the instruction of the flight control system during flying, so that the amphibious unmanned aerial vehicle has a raised angle.
The flight control system is the core of the upper part of the amphibious unmanned aerial vehicle, monitors, controls and commands other airborne subsystems, receives the instruction of a ground task/monitoring system, coordinates the work of the airborne subsystems, and sends the state of the unmanned aerial vehicle and other required information to the ground monitoring subsystem. The flight control system is a comprehensive controller for coordinating, managing and controlling all subsystems of the unmanned aerial vehicle, and is also the core for realizing the flight management and control of the unmanned aerial vehicle. In the invention, the canard wing posture control command comprises:
and (3) controlling the water inlet posture:
referring to fig. 2, when the amphibious unmanned aerial vehicle is subjected to forward thrust and downward pressure, the forward water flow passing through the duck wings (4A and 4B) also provides a downward pressure, and the downward pressure of the ducted fans (3A and 3B) and the downward pressure of the ducted fans enable the amphibious unmanned aerial vehicle to sink into water. The water inlet angle formed by the duck wings (4A and 4B) and the ducted fans (3A and 3B) in the water inlet posture and the water surface is recorded as1And is and130-45 degrees; meanwhile, the main wings (2A and 2B) are dihedral angles, so that the gravity center can move downwards, the lift force is reduced, and the amphibious aircraft can sink easily.
In the invention, the water inlet attitude control command for controlling the amphibious aircraft through the duck wings (4A and 4B) is F1d1+F2d2＝Jα1Wherein:
j represents the moment of inertia of the aircraft relative to the center of mass;
g represents the weight of the aircraft itself;
Ffloating bodyRepresenting the buoyancy experienced by the aircraft;
α1representing the angular acceleration upon entry into the water;
F1showing the propulsive force of the propeller when entering water;
F2showing the acting force of the duck wing when entering water;
d1representing the center of mass to F1The vertical distance of the line of action;
d2representing the center of mass to F2The vertical distance of the line of action.
Controlling the underwater navigation attitude:
referring to fig. 3, the command for controlling the submerging attitude of the amphibious aircraft through the canard wings (4A, 4B) is F3d3-F4d4＝Jα2And α is2＝0；
J represents the moment of inertia of the aircraft relative to the center of mass;
g represents the weight of the aircraft itself;
Ffloating bodyRepresenting the buoyancy experienced by the aircraft;
α2representing angular acceleration during the dive;
F3representing the propulsive force of the propeller during the submergence;
F4the acting force of the duck wing during the diving is shown;
d3representing the center of mass to F3The vertical distance of the line of action;
d4representing the center of mass to F4The vertical distance of the line of action.
And (3) controlling the water outlet posture:
referring to fig. 4, when the amphibious unmanned aerial vehicle is subjected to forward thrust and upward lift, the tension lines of the ducted fans (3A and 3B) pass through the center of gravity, and wind blown out by the ducted fans flows through the lower surfaces of the main wings (2A and 2B), so that the lift of the main wings (2A and 2B) is increased, the duck wings (4A and 4B) also provide certain lift and lift the head 1A of the vehicle body, and the three lift are combined togetherAnd the amphibious aircraft can take off quickly and in short distance from left to right. The water outlet angle formed by the duck wings (4A and 4B) and the ducted fans (3A and 3B) in the water outlet posture and the water surface is recorded as3And is and330-45 degrees; meanwhile, the main wings (2A and 2B) are in dihedral angles, so that the center of gravity can be moved upwards, the lift force is increased, and the takeoff of the amphibious aircraft is facilitated.
In the invention, the water outlet attitude control command for controlling the amphibious aircraft through the duck wings (4A and 4B) is F6d6＝Jα3In the present invention, the ducted fan pull line passes through the center of gravity as the aircraft is subjected to forward thrust and upward lift, and therefore F5Is not affected by the moment.
J represents the moment of inertia of the aircraft relative to the center of mass;
g represents the weight of the aircraft itself;
Ffloating bodyRepresenting the buoyancy experienced by the aircraft;
α3representing the angular acceleration of the water;
F5showing the propelling force of the propeller when water is produced;
F6showing the acting force of the duck wing when water exists;
d5representing the center of mass to F5The vertical distance of the line of action;
d6representing the center of mass to F6The vertical distance of the line of action.
Flight attitude control instructions:
referring to fig. 5, the canard wings (4A, 4B) and ducted fans (3A, 3B) in the air flight attitude are raised at the same time by 8 to 12 degrees (preferably 10 degrees), and the aircraft head 1A is raised, and the amphibious unmanned aerial vehicle flies in an elevation angle. In the invention, the angle of 8-12 degrees is the included angle formed between the bottom surface of the canard wing (4A, 4B) and the bottom surface of the fuselage during flying and is taken as the canard wing flying angle4And is and48-12 degrees.
In the invention, the flight attitude control command for controlling the amphibious aircraft through the canard wings (4A, 4B) is F7d7-F8d8＝Jα4And α is4＝0；
J represents the moment of inertia of the aircraft relative to the center of mass;
g represents the weight of the aircraft itself;
Ffloating bodyRepresenting the buoyancy experienced by the aircraft;
α4representing angular acceleration in flight;
F7representing the propulsive force of the propeller in flight;
F8representing the acting force of the canard during flying;
d7representing the center of mass to F7The vertical distance of the line of action;
d8representing the center of mass to F8The vertical distance of the line of action.

Claims (1)

1. An amphibious unmanned aerial vehicle with a duck wing and variable wing dihedral at least comprises an organic body system, an aircraft control system and a propulsion system;
the body system is provided with a left main wing (2B) and a right main wing (2A) which are the same in structure, and a left duck wing (4B) and a right duck wing (4A) which are the same in structure;
the propulsion system consists of ducted fan power and underwater propeller power;
the method is characterized in that: the amphibious unmanned aerial vehicle with the duck wings and the variable wing dihedral is a vertical take-off and landing fixed wing unmanned aerial vehicle;
a duck wing attitude control instruction matched with the left duck wing (4B) and the right duck wing (4A) is added in the aircraft control system; the left duck wing (4B) and the right duck wing (4A) are thick in the front and thin in the back, and the wing root is smaller as the distance from the machine body is larger;
a left duck wing (4B) and a right duck wing (4A) which are identical in structure are symmetrically arranged on the amphibious aircraft; the duck wing installation distance H is 30% multiplied by H, and H represents the length of the airplane body;
the duck wing posture control command comprises the following steps,
the water inlet attitude control instruction for controlling the amphibious aircraft through the duck wing is F1d1+F2d2＝Jα1；F1Showing the propulsive force of the propeller when entering water; d1Representing the center of mass to F1Function ofThe vertical distance of the line; f2Showing the acting force of the duck wing when entering water; d2Representing the center of mass to F2The vertical distance of the line of action; j represents the moment of inertia of the aircraft relative to the center of mass; alpha is alpha1Representing the angular acceleration upon entry into the water; the water inlet angle formed by the duck wings (4A, 4B) and the ducted fans (3A, 3B) in the water inlet posture and the water surface is 30-45 degrees; meanwhile, the main wings (2A and 2B) are dihedral angles;
the command for controlling the submerging attitude of the amphibious aircraft through the canard wing is F3d3-F4d4＝Jα2And α is2＝0；F3Representing the propulsive force of the propeller during the submergence; d3Representing the center of mass to F3The vertical distance of the line of action; f4The acting force of the duck wing during the diving is shown; d4Representing the center of mass to F4The vertical distance of the line of action; j represents the moment of inertia of the aircraft relative to the center of mass; alpha is alpha2Representing angular acceleration during the dive;
the water outlet attitude control instruction for controlling the amphibious aircraft through the duck wing is F6d6＝Jα3；F6Showing the acting force of the duck wing when water exists; d6Representing the center of mass to F6The vertical distance of the line of action; j represents the moment of inertia of the aircraft relative to the center of mass; alpha is alpha3Representing the angular acceleration of the water; the duck wings (4A, 4B) and the ducted fans (3A, 3B) in the water outlet posture form a water outlet angle of 30-45 degrees with the water surface at the same time; meanwhile, the main wings (2A and 2B) are dihedral angles;
the flight attitude control instruction for controlling the amphibious aircraft through the canard wing is F7d7-F8d8＝Jα4And α is4＝0；F7Representing the propulsive force of the propeller in flight; d7Representing the center of mass to F7The vertical distance of the line of action; f8Representing the acting force of the canard during flying; d8Representing the center of mass to F8The vertical distance of the line of action; j represents the moment of inertia of the aircraft relative to the center of mass; alpha is alpha4Representing angular acceleration in flight; the duck wings (4A, 4B) and the ducted fans (3A, 3B) in the flying posture are raised by 8-12 degrees at the same time, andthe head (1A) of the aircraft body is raised, and the amphibious unmanned aerial vehicle flies in an elevation angle;
the left main wing (2B) and the right main wing (2A) are in a delta wing layout, are thin wing type and can change an up-reflecting angle;
the air flight attitude is elevation flight, and the aircraft head (1A), the canard wings (4A, 4B) and the ducted fans (3A, 3B) keep flying for 10 degrees.
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