The invention discloses a water outlet control method of a folding wing type cross-medium aircraft, and particularly relates to the field of water outlet control of cross-medium folding wing aircrafts. The invention solves the problems that the existing water outlet control strategy for the folding wing type cross-medium aircraft cannot realize direct water outlet, is easy to be interfered by the environment, is longer in water outlet time, and is slow in response speed. The water outlet control method comprises the steps that an underwater depth-keeping sailing task is executed firstly, then a water outlet task is executed, during the period, the flight attitude is adjusted through the motion control system, sailing towards the water surface at the preset water outlet pitch angle is conducted, and when the air propellers are exposed out of the water surface or not, the air propellers are started at the maximum power; and when the working time of the air propellers reaches the preset working time, the wings are unfolded to sail in the air. The method is mainly applied to the field of cross-medium navigation.

    折叠翼式跨介质航行器的出水控制方法,具体涉及跨介质折叠翼航行器的出水控制领域。本发明解决了现有针对折叠翼式跨介质航行器出水控制策略无法实现直接出水,且存在易受环境干扰、出水时间较长、以及响应速度慢的问题。本发明出水控制方法为先执行水下定深航行任务,之后执行出水任务,在此期间通过运动控制系统调整飞行姿态,以预设出水俯仰角向水面航行,当空气螺旋桨是否露出水面时以最大功率开启空气螺旋桨,当空气螺旋桨的工作时间达到预设工作时间时,展开机翼,进行空中航行。本发明主要应用在跨介质航行领域。


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    Title :

    Water outlet control method of folding wing type cross-medium aircraft


    Additional title:

    折叠翼式跨介质航行器的出水控制方法


    Contributors:
    WANG BAOXU (author) / CAO JIAN (author) / LI YUEMING (author) / SUN XIANGREN (author) / HAN ZHAOLIANG (author) / LI YE (author)

    Publication date :

    2023-09-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen



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