Hybrid unmanned aerial underwater vehicle refers to a new type of aircraft that can shuttle repeatedly through water and air to complete special tasks stably, such as research, rescue, covert detection, and other tasks. In the design of the vehicle, stable switching between two kinds of medium is a problem that needs to be solved. Furthermore, the densities and viscosities of water and air are quite different, so it is difficult to meet the compatibility and controllability in both media. Aiming at the problem of water-air transition, this paper demonstrates a double-powered structure aircraft which is based on the quadrotor configuration and switches aerial rotors and underwater propellers by the differential transmission device. A shape optimization program based on computational fluid dynamics (CFD) is proposed, which effectively improves navigation efficiency. The PID controller is used for the simulation of the dynamic model in which buoyancy, fluid viscous resistance, and additional mass are linearized. According to the simulation result, the adaptive control method is proposed to adjust the parameters of the PID controller with the change of working state to realize stable control.
Modeling and Control of an Underwater Drone with Flying Capability
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Kapitel : 101 ; 1025-1035
2022-03-18
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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