CN114578850A - Long-endurance amphibious unmanned aerial vehicle and attitude control method thereof - Google Patents
Long-endurance amphibious unmanned aerial vehicle and attitude control method thereof Download PDFInfo
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- CN114578850A CN114578850A CN202210072714.8A CN202210072714A CN114578850A CN 114578850 A CN114578850 A CN 114578850A CN 202210072714 A CN202210072714 A CN 202210072714A CN 114578850 A CN114578850 A CN 114578850A
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Abstract
The invention discloses a long-endurance amphibious unmanned aerial vehicle and an attitude control method thereof, which can be used for long-time underwater gliding and water surface take-off and landing and have great potential in the aspects of marine rescue, survey reconnaissance and the like. This unmanned aerial vehicle has adopted the overall arrangement design of single-wing on single hull, the cantilever, has cancelled elevator and rudder, its driftage gesture of differential control through the motor, and attitude control stability of unmanned aerial vehicle has been ensured through centrobaric bias control every single move gesture. This unmanned aerial vehicle possesses two kinds of mode of stealthily navigating and flight, and under the stealthily mode, unmanned aerial vehicle relies on the mode drive of net buoyancy, carries out unpowered gliding under water, and power loss is little, stand-by time is long. The unmanned aerial vehicle completes the conversion of working modes on the water surface, is efficient and stable in mode switching, and has important innovative significance on underwater biological monitoring, resource exploration and sea area safety maintenance.
Description
Technical Field
The invention relates to the technical field of amphibious unmanned aerial vehicles in sea and air, in particular to a long-endurance amphibious unmanned aerial vehicle based on motor differential and gravity center offset attitude control and an innovative design concept thereof.
Background
The sea-air amphibious unmanned aerial vehicle is an unmanned aerial vehicle which can fly in the air and can sail in water, and the advantages of an aircraft and a submarine are organically combined. In the field of unmanned aerial vehicles, sea-air amphibious unmanned aerial vehicles are an important research direction, and the unmanned aerial vehicles have more possibilities due to wider space, and have great potential in the aspects of marine rescue, survey and reconnaissance and the like. The technical key of the sea-air amphibious unmanned aerial vehicle lies in meeting normal work in air and underwater, and meanwhile, the sea-air amphibious unmanned aerial vehicle can be stably switched between two modes of air flight and underwater navigation. The existing amphibious unmanned aerial vehicle lacks effective research on design of a water inlet scheme and a water outlet scheme, and lacks a scheme capable of considering both air flight performance and underwater navigation performance, because of physical difference of two working media, power devices working in the two media have huge difference, an air paddle generally has low slenderness and wider paddle in water, if the two power devices are carried simultaneously, two sets of power equipment need to be equipped, the load of the unmanned aerial vehicle is invisibly increased, and one set of device is always in an idle state, the working efficiency is extremely low, and the underwater paddle can not fly.
Disclosure of Invention
Aiming at the defects of the existing water-air amphibious unmanned aerial vehicle technology, the invention aims to provide the long-endurance amphibious unmanned aerial vehicle based on motor differential and gravity center offset attitude control, which can give consideration to both air flight and underwater flight, has high working efficiency and good stability, is stable in switching of water-entering and water-exiting flight modes, and improves the applicability of the unmanned aerial vehicle.
The application realizes the above effects through the following technical scheme:
an amphibious unmanned aerial vehicle for long endurance comprises a vehicle body, a power system and a control system; wherein the content of the first and second substances,
the control system comprises a fixed frame, the fixed frame penetrates through the interior of the whole unmanned aerial vehicle body, and a buoyancy adjusting device and a gravity center adjusting device are installed in the fixed frame and used for controlling the balance of the unmanned aerial vehicle;
the power system comprises a propeller and a tension motor and provides power output for the unmanned aerial vehicle.
Furthermore, the buoyancy adjusting device comprises a plurality of buoys, a second stepping motor, a threaded piston rod and a worm, the buoys are arranged side by side, and the buoys control the volume of a cavity of the buoys through water suction and drainage; one end of the piston rod with the thread is hermetically connected with the buoy, the other end of the piston rod with the thread is provided with threads, the worm is connected to an output shaft of the second stepping motor and matched with the thread end of the piston rod, the rotation of the worm drives the piston rod of the buoy to rotate, and the self-rotation motion is converted into axial displacement through the piston rod of the worm, so that the volume of a cavity of the buoy is controlled; the second stepping motor is fixed on the fixed frame.
Furthermore, the gravity center adjusting device comprises a balancing weight, a gear, a sliding rail, a pulley, a fixed support and a first stepping motor; the counterweight block comprises a battery and a first stepping motor, the counterweight block is arranged on a fixed support, the slide rail penetrates through the middle of the fixed support and is arranged on a fixed frame, slide grooves are distributed on two sides of the slide rail, and the slide groove on one side is provided with teeth; the pulley is arranged on the non-tooth side of the sliding chute, freely moves in the sliding chute to reduce friction, and the gear is fixed on the output shaft of the first stepping motor, is arranged on the tooth side and is matched with the teeth in the sliding chute;
the output end of the first stepping motor is connected with a gear, the gear is meshed with the insections on the surface of the sliding groove, and the motor drives the gear to rotate so that the balancing weight moves back and forth on the sliding rail.
As a preferred embodiment of the present application, the drone adopts a single hull, cantilever, single wing layout.
The application is based on the long-endurance amphibious unmanned aerial vehicle, and further provides an attitude control method of the long-endurance amphibious unmanned aerial vehicle, wherein the attitude control method comprises two modes:
the flight mode is characterized in that the gravity center position of the airplane is changed by adjusting the forward and backward movement of the balancing weight to realize pitching movement; the unmanned aerial vehicle comprises at least two tension motors, the tension motors are driven by unequal currents supplied by a power supply to realize differential control, blades on two sides are further driven to rotate to generate unequal tension, the unequal tension can form a moment deflected around the wingspan direction of the unmanned aerial vehicle, and as the tension of the tension motors is increased to generate additional counter torque, the additional counter torque is offset by controlling the ailerons to deflect upwards or downwards to generate a roll moment, so that yaw movement is realized;
the left aileron and the right aileron are driven by the steering engine to deflect, so that the lifting forces generated by the wings on the two sides are unequal, and a torque rolling around the advancing direction of the airplane is formed, thereby realizing the rolling motion;
in the underwater navigation mode, the output control of the second stepping motor and the movement of the cooperative balancing weight are changed to control the unmanned aerial vehicle to change the attitude;
when the unmanned aerial vehicle is changed from a flight mode to a submerging mode, the unmanned aerial vehicle slowly lands on the water surface, and then the net buoyancy of the whole unmanned aerial vehicle is reduced through the buoyancy adjusting device, so that the unmanned aerial vehicle sinks;
when unmanned aerial vehicle changed into the flight mode from the mode of diving into, at first pass through the net buoyancy of buoyancy adjusting device increase complete machine, treat that unmanned aerial vehicle's screw and fuselage emerge after the surface of water, start the screw motor after that, make unmanned aerial vehicle take off at the surface of water run, until reaching the operating condition that flies flatly, get into the flight mode.
Further, work as when unmanned aerial vehicle is in the mode of diving, the drive second step motor among the buoyancy adjusting device rotates, and second step motor rotates and drives the worm rotatory to it is rotatory to drive the worm wheel on the flotation pontoon piston rod, the one end and the flotation pontoon sealing connection of threaded piston rod, and the other end distributes there is the screw thread, the worm is connected on second step motor output shaft and is mutually supported with the screw thread end of piston rod, the worm is rotatory to be driven the flotation pontoon piston rod rotatory, turns into axial displacement with self rotary motion through the worm piston rod, thereby controls flotation pontoon cavity volume, reaches the increase and reduces the effect of net buoyancy, drives through changing net buoyancy unmanned aerial vehicle's gesture, control unmanned aerial vehicle speed and dive, the switching of come-up state.
Further, when the piston rod moves forwards, the sealing plate in the float bowl moves forwards along with the piston rod, and the space in the float bowl is compressed to discharge water; when the piston rod during negative-going motion, the sealing washer moves backward along with the piston rod in the flotation pontoon, with the unmanned aerial vehicle dive in the water suction flotation pontoon around the navigation environment.
Furthermore, when the piston rod moves forwards, the buoyancy is reduced, and the first stepping motor is driven to drive the gear to rotate, so that the counterweight block moves forwards along the sliding groove (the flying direction of the unmanned aerial vehicle is a positive direction), the gravity center of the aircraft moves forwards, and a head-lowering moment is generated; when the piston rod moves in the negative direction, the buoyancy is increased, and meanwhile, the first stepping motor is driven to drive the gear to rotate, so that the balancing weight moves backwards along the sliding groove, the gravity center of the airplane moves backwards, and the head raising moment is generated.
Furthermore, when the unmanned aerial vehicle is in a flight mode, the unmanned aerial vehicle enables the balancing weight to move forwards along the sliding groove to generate head lowering moment through the gravity center adjusting device, pitching motion is achieved, and vice versa when the unmanned aerial vehicle is raised; the differential control is realized by driving the tension motor through unequal currents supplied by a power supply, the blades on two sides are further driven to rotate to generate unequal tension to form yaw moment, and the ailerons deflect upwards or downwards to form rolling moment in a matching manner to eliminate extra counter torque generated when the tension motor drives the blades to rotate, so that yaw motion is realized.
Compared with the prior art, the invention has the following advantages:
1. the long-endurance amphibious unmanned aerial vehicle based on the motor differential speed and the gravity center offset attitude control can perform unpowered gliding under water, and under an ideal condition, the diving mode only needs to consume energy when switching the diving or floating gliding state, so that the power loss is small, and the standby time is long.
2. According to the long-endurance amphibious unmanned aerial vehicle based on the motor differential speed and the gravity center offset attitude control, an elevator and a rudder are omitted, the yaw attitude is controlled through the differential speed of the motor, the pitching attitude is controlled through the gravity center offset, the attitude control stability of the unmanned aerial vehicle is ensured, and a new structure is used for replacing a traditional unmanned aerial vehicle attitude adjusting mode.
3. The amphibious unmanned aerial vehicle can realize stable and free switching between a submerging mode and a flying mode, realizes the effect of one unmanned aerial vehicle with multiple purposes, and widens the application of the unmanned aerial vehicle.
Drawings
FIG. 1 is a schematic view of the overall shape of an unmanned aerial vehicle;
FIG. 2 is a control system installation diagram;
FIG. 3 is a schematic view of a center of gravity adjustment apparatus;
FIG. 4 is a schematic view of a buoyancy adjustment device;
in the figure, 1, an unmanned aerial vehicle ship-shaped body, 2, blades, 3, a tension motor, 4, ailerons, 5, a fixed frame, 6, a buoyancy adjusting device, 7, a gravity center adjusting device, 8, a gear, 9, a slide rail, 10, a pulley, 11, a first stepping motor, 12, a balancing weight, 13, a fixed support, 14, a water inlet/outlet, 15, a buoy, 16, a threaded piston rod, 17, a worm, 18 and a second stepping motor are arranged.
Detailed Description
The technical solution of the present invention will be further described in detail with reference to the accompanying drawings in the embodiments of the present invention.
Example 1
As shown in the attached drawings, the following embodiment is a long-endurance amphibious unmanned aerial vehicle, which comprises a vehicle body, a power system and a control system; wherein, the first and the second end of the pipe are connected with each other,
the control system comprises a fixed frame, the fixed frame penetrates through the interior of the whole unmanned aerial vehicle body, and a buoyancy adjusting device and a gravity center adjusting device are installed in the fixed frame and used for controlling the balance of the unmanned aerial vehicle;
the power system comprises a propeller and a tension motor and provides power output for the unmanned aerial vehicle.
Furthermore, the buoyancy adjusting device comprises a plurality of buoys, a second stepping motor, a threaded piston rod and a worm, the buoys are arranged side by side, and the buoys control the volume of a cavity of the buoys through water suction and drainage; one end of the piston rod with the thread is hermetically connected with the buoy, the other end of the piston rod with the thread is provided with threads, the worm is connected to an output shaft of the second stepping motor and matched with the thread end of the piston rod, the rotation of the worm drives the piston rod of the buoy to rotate, and the self-rotation motion is converted into axial displacement through the piston rod of the worm, so that the volume of a cavity of the buoy is controlled; the second stepping motor is fixed on the fixed frame.
Furthermore, the gravity center adjusting device comprises a balancing weight, a gear, a sliding rail, a pulley, a fixed support and a first stepping motor; the counterweight block comprises a battery and a first stepping motor, the counterweight block is arranged on a fixed support, the slide rail penetrates through the middle of the fixed support and is arranged on a fixed frame, slide grooves are distributed on two sides of the slide rail, and the slide groove on one side is provided with teeth; the pulley is arranged on the non-tooth side of the sliding chute, freely moves in the sliding chute to reduce friction, and the gear is fixed on the output shaft of the first stepping motor, is arranged on the tooth side and is matched with the teeth in the sliding chute;
the output end of the first stepping motor is connected with a gear, the gear is meshed with the insections on the surface of the sliding groove, and the motor drives the gear to rotate so that the balancing weight moves back and forth on the sliding rail.
As a preferred embodiment of the present application, the drone adopts a single hull, cantilever, single wing layout.
The amphibious unmanned aerial vehicle is designed based on motor differential and gravity center bias attitude control, the structure of the amphibious unmanned aerial vehicle is simplified, and the whole vehicle is small in additional mass and reliable in control. The control system comprises a buoyancy adjusting device 6 and a gravity center adjusting device 7 which are connected together in a front-back mode through a fixed frame 5. Wherein, focus adjusting device mainly includes gear 8, slide rail 9, pulley 10, first step motor 11, balancing weight 12, fixing support 13 constitutes, and the balancing weight passes through the pulley to be installed on the slide rail, and the slide rail both sides are fluted, and one side is the rack, and the opposite side is the spout, and the spout can supply the pulley to remove wherein, plays the purpose that reduces frictional force, and the rack plays the purpose of control balancing weight position to change the organism focus. The buoyancy adjusting device mainly comprises a water inlet/outlet 14, a buoy 15, a threaded piston rod 16, a worm 17 and a second stepping motor 18, wherein the piston rod is provided with a worm wheel, the worm wheel on the piston rod of the buoy is driven to rotate through the rotation of the worm, the piston rod is connected with a sealing sheet at the end of the buoy, the volume of a cavity of the buoy is changed by controlling the piston rod to move forwards and backwards so as to suck or discharge water, and the effect of increasing and reducing the buoyancy is achieved.
Example 2
The application is based on the long-endurance amphibious unmanned aerial vehicle, and further provides an attitude control method of the long-endurance amphibious unmanned aerial vehicle, wherein the attitude control method comprises two modes:
the flight mode is characterized in that the gravity center position of the airplane is changed by adjusting the forward and backward movement of the balancing weight to realize pitching movement; the unmanned aerial vehicle comprises at least two tension motors, the tension motors are driven by unequal currents supplied by a power supply to realize differential control, blades on two sides are further driven to rotate to generate unequal tension, the unequal tension can form a moment deflected around the wingspan direction of the unmanned aerial vehicle, and as the tension of the tension motors is increased to generate additional counter torque, the additional counter torque is offset by controlling the ailerons to deflect upwards or downwards to generate a roll moment, so that yaw movement is realized;
the left aileron and the right aileron are driven by the steering engine to deflect, so that the lifting forces generated by the wings on the two sides are unequal, and a torque rolling around the advancing direction of the airplane is formed, thereby realizing the rolling motion;
in the underwater navigation mode, the output control of the second stepping motor and the movement of the cooperative balancing weight are changed to control the unmanned aerial vehicle to change the attitude;
when the unmanned aerial vehicle is changed from a flight mode to a submerging mode, the unmanned aerial vehicle slowly lands on the water surface, and then the net buoyancy of the whole unmanned aerial vehicle is reduced through the buoyancy adjusting device, so that the unmanned aerial vehicle sinks;
when unmanned aerial vehicle changed into flight mode from the stealthy navigation mode, at first passed through the net buoyancy of buoyancy adjusting device increase complete machine, treat that unmanned aerial vehicle's screw and fuselage emerge after the surface of water, start the screw motor after that, make unmanned aerial vehicle at the surface of water run take-off, until reaching the smooth operating condition that flies, get into flight mode.
Further, work as when unmanned aerial vehicle is in the mode of diving, the drive second step motor among the buoyancy adjusting device rotates, and second step motor rotates and drives the worm rotatory to it is rotatory to drive the worm wheel on the flotation pontoon piston rod, the one end and the flotation pontoon sealing connection of threaded piston rod, and the other end distributes there is the screw thread, the worm is connected on second step motor output shaft and is mutually supported with the screw thread end of piston rod, the worm is rotatory to be driven the flotation pontoon piston rod rotatory, turns into axial displacement with self rotary motion through the worm piston rod, thereby controls flotation pontoon cavity volume, reaches the increase and reduces the effect of net buoyancy, drives through changing net buoyancy unmanned aerial vehicle's gesture, control unmanned aerial vehicle speed and dive, the switching of come-up state.
Further, when the piston rod moves forwards, the sealing plate in the float bowl moves forwards along with the piston rod, and the space in the float bowl is compressed to discharge water; when the piston rod during negative-going motion, the sealing washer moves backward along with the piston rod in the flotation pontoon, with the unmanned aerial vehicle dive in the water suction flotation pontoon around the navigation environment.
Furthermore, when the piston rod moves forwards, the buoyancy is reduced, and the first stepping motor is driven to drive the gear to rotate, so that the counterweight block moves forwards along the sliding groove (the flying direction of the unmanned aerial vehicle is a positive direction), the gravity center of the aircraft moves forwards, and a head-lowering moment is generated; when the piston rod moves in the negative direction, the buoyancy is increased, and meanwhile, the first stepping motor is driven to drive the gear to rotate, so that the balancing weight moves backwards along the sliding groove, the gravity center of the airplane moves backwards, and the head raising moment is generated.
Furthermore, when the unmanned aerial vehicle is in a flight mode, the unmanned aerial vehicle enables the balancing weight to move forwards along the sliding groove to generate head lowering moment through the gravity center adjusting device, pitching motion is achieved, and head raising is not the opposite; the tension motor is driven by unequal current supplied by a power supply to realize differential control, the blades on two sides are further driven to rotate to generate unequal tension to form yaw moment, and the ailerons are matched to deflect upwards or downwards to form roll moment to eliminate extra counter torque generated when the tension motor drives the blades to rotate, so that yaw motion is realized.
When the unmanned aerial vehicle flies in the air and is in a flying mode, the two propellers are driven by the tension motor to work, the forward flying thrust is obtained, and the yaw attitude is controlled through the differential speed of the motor. When the left and right motor rotating speeds are different, the propeller generates different pulling forces, which is equivalent to generating a yawing moment to enable the unmanned aerial vehicle to yaw.
When unmanned aerial vehicle goes into water from the air, slowly descend to the surface of water earlier, rethread buoyancy adjusting device 6 reduces the buoyancy of complete machine for unmanned aerial vehicle sinks. Under the submergence mode, the amphibious unmanned aerial vehicle during long voyage is driven by the cooperation of net buoyancy and a gravity center adjusting device, and the volume of a cavity of the buoy is changed through the buoy water inlet/outlet pipeline 14, so that the speed of the glider and the switching between submergence and floating states are controlled.
When the unmanned aerial vehicle goes out of the water, at first, through the buoyancy of buoyancy adjusting device 6 increase complete machine, second step motor 18 drives worm 17 rotatory, worm 17 drives belt screw piston rod 16 and moves left, flotation pontoon 15 is through the increase of intake/outlet 14 drainage cavity volume, buoyancy increases, and simultaneously, first step motor 11 takes balancing weight 12 and fixing support 13 to pass through drive gear 8 and moves backward along slide rail 9 in focus adjusting device 7, produce a new line moment, treat that unmanned aerial vehicle's paddle 2 and unmanned aerial vehicle ship type fuselage 1 float out of the water surface after, start pulling force motor 3 after that, make unmanned aerial vehicle run at the surface of water and take off, until reaching the working condition that flies flatly, get into air flight afterwards.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and adjustments can be made without departing from the principle of the present invention, and these modifications and adjustments should also be regarded as the protection scope of the present invention.
Claims (9)
1. The utility model provides an amphibious unmanned aerial vehicle during long voyage which characterized in that: the unmanned aerial vehicle comprises a body, a power system and a control system; wherein, the first and the second end of the pipe are connected with each other,
the control system comprises a fixed frame, the fixed frame penetrates through the interior of the whole unmanned aerial vehicle body, and a buoyancy adjusting device and a gravity center adjusting device are installed in the fixed frame and used for controlling the balance of the unmanned aerial vehicle;
the power system comprises a propeller and a tension motor and provides power output for the unmanned aerial vehicle.
2. The long-endurance amphibious unmanned aerial vehicle of claim 1, wherein: the buoyancy adjusting device comprises a plurality of buoys, a second stepping motor, a threaded piston rod and a worm, the buoys are arranged side by side, and the buoys control the volume of a cavity of the buoys through water suction and drainage; one end of the piston rod with the thread is hermetically connected with the buoy, the other end of the piston rod with the thread is provided with threads, the worm is connected to an output shaft of the second stepping motor and matched with the thread end of the piston rod, the rotation of the worm drives the piston rod of the buoy to rotate, and the self-rotation motion is converted into axial displacement through the piston rod of the worm, so that the volume of a cavity of the buoy is controlled; the second stepping motor is fixed on the fixed frame.
3. The long-endurance amphibious unmanned aerial vehicle of claim 1, wherein: the gravity center adjusting device comprises a balancing weight, a gear, a sliding rail, a pulley, a fixed support and a first stepping motor; the counterweight block comprises a battery and a first stepping motor, the counterweight block is arranged on a fixed support, the slide rail penetrates through the middle of the fixed support and is arranged on a fixed frame, slide grooves are distributed on two sides of the slide rail, and the slide groove on one side is provided with teeth; the pulley is arranged on the non-tooth side of the sliding chute, freely moves in the sliding chute to reduce friction, and the gear is fixed on the output shaft of the first stepping motor, is arranged on the tooth side and is matched with the teeth in the sliding chute;
the output end of the first stepping motor is connected with a gear, the gear is meshed with the insections on the surface of the sliding groove, and the motor drives the gear to rotate so that the balancing weight moves back and forth on the sliding rail.
4. A long-endurance amphibious drone according to any one of claims 1 to 3, characterised in that: the unmanned aerial vehicle adopts a single-hull and cantilever upper single-wing layout mode.
5. The attitude control method of the amphibious unmanned aerial vehicle during long endurance according to claim 1, characterized in that: the attitude control method comprises two modes:
the flight mode is characterized in that the gravity center position of the airplane is changed by adjusting the forward and backward movement of the balancing weight to realize pitching movement; the unmanned aerial vehicle comprises at least two tension motors, the tension motors are driven by unequal currents supplied by a power supply to realize differential control, blades on two sides are further driven to rotate to generate unequal tension, the unequal tension can form a moment deflected around the wingspan direction of the unmanned aerial vehicle, and as the tension of the tension motors is increased to generate additional counter torque, the additional counter torque is offset by controlling the ailerons to deflect upwards or downwards to generate a roll moment, so that yaw movement is realized;
the left aileron and the right aileron are driven by the steering engine to deflect, so that the lifting forces generated by the wings on the two sides are unequal, and a torque rolling around the advancing direction of the airplane is formed, thereby realizing the rolling motion;
in the underwater navigation mode, the output control of the second stepping motor and the movement of the balancing weight are changed to control the unmanned aerial vehicle to change the posture;
when the unmanned aerial vehicle is changed from a flight mode to a submerging mode, the unmanned aerial vehicle slowly lands on the water surface, and then the net buoyancy of the whole unmanned aerial vehicle is reduced through the buoyancy adjusting device, so that the unmanned aerial vehicle sinks;
when unmanned aerial vehicle changed into flight mode from the stealthy navigation mode, at first passed through the net buoyancy of buoyancy adjusting device increase complete machine, treat that unmanned aerial vehicle's screw and fuselage emerge after the surface of water, start the screw motor after that, make unmanned aerial vehicle at the surface of water run take-off, until reaching the smooth operating condition that flies, get into flight mode.
6. The attitude control method according to claim 5, characterized in that: work as when unmanned aerial vehicle is in the mode of diving, the drive second step motor among the buoyancy adjusting device rotates, and second step motor rotates and drives the worm rotatory to it is rotatory to drive the worm wheel on the flotation pontoon piston rod, the one end and the flotation pontoon sealing connection of threaded piston rod, and the other end distributes and has the screw thread, the worm is connected on second step motor output shaft and is mutually supported with the threaded end of piston rod, the worm is rotatory to drive the flotation pontoon piston rod rotatory, turns into axial displacement with self rotary motion through the worm piston rod, thereby controls flotation pontoon cavity volume, reaches the effect that the increase reduces net buoyancy, drives through changing net buoyancy unmanned aerial vehicle's gesture, control unmanned aerial vehicle speed and dive, the switching of come-up state.
7. The attitude control method according to claim 6, characterized in that: when the piston rod moves forwards, the sealing sheet in the float bowl moves forwards along with the piston rod, and the space in the float bowl is compressed to discharge water; when the piston rod during negative-going motion, the sealing washer moves backward along with the piston rod in the flotation pontoon, with the unmanned aerial vehicle dive in the water suction flotation pontoon around the navigation environment.
8. The attitude control method according to claim 6, characterized in that: when the piston rod moves forwards, the buoyancy is reduced, and meanwhile, the first stepping motor is driven to drive the gear to rotate, so that the balancing weight moves forwards along the sliding groove, the center of gravity of the airplane moves forwards, and the low head moment is generated; when the piston rod moves in the negative direction, the buoyancy is increased, and meanwhile, the first stepping motor is driven to drive the gear to rotate, so that the balancing weight moves backwards along the sliding groove, the gravity center of the airplane moves backwards, and the head raising moment is generated.
9. The attitude control method according to claim 5, characterized in that: when the unmanned aerial vehicle is in a flight mode, the unmanned aerial vehicle enables the balancing weight to move forwards along the sliding groove through the gravity center adjusting device to generate head lowering moment, pitching motion is achieved, and head raising is performed otherwise; the tension motor is driven by unequal current supplied by a power supply to realize differential control, the blades on two sides are further driven to rotate to generate unequal tension to form yaw moment, and the ailerons are matched to deflect upwards or downwards to form roll moment to eliminate extra counter torque generated when the tension motor drives the blades to rotate, so that yaw motion is realized.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116394686A (en) * | 2023-02-07 | 2023-07-07 | 南京航空航天大学 | Mars sampling detection-oriented land-air amphibious unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116394686A (en) * | 2023-02-07 | 2023-07-07 | 南京航空航天大学 | Mars sampling detection-oriented land-air amphibious unmanned aerial vehicle |
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