大展弦比无人机空中自主组装的动力学与控制研究

This project is motivated by the modular High-Altitude Long Endurance (HALE) drone, which has many advantages such as high fault tolerance, adaptability, expansibility and survivability. By employing theoretical analysis, numerical simulation and experimental research, this project systematically studies the scientific issues of dynamics modeling, analysis and control involved in the airborne autonomous assembly of high-aspect-ratio unmanned aerial vehicles. The research content includes: high-fidelity modeling and efficient numerical modeling of aerodynamics, dynamics modeling of airborne autonomous assembly and the establishment of ground experimental platform of wing docking, control synthesis for airborne autonomous assembly. The innovation of this project is that the dynamics modeling approach is developed for the airborne autonomous assembly of elastic aircraft and the complex dynamic behavior is revealed due to the aeroelasticity, the aerodynamic coupling and the collision at the wing-tip docking moment. Furthermore, the efficient airborne assembly and reliable flight control of the combined aircraft after wing-tip docking can be achieved. The research achievements of this project will provide important theoretical foundation and technical reserves for the development of modular HALE drone.

本项目以具有高容错性、适应性、可扩展性及生存能力等优点的模块化高空长航时无人机为背景，利用理论分析、数值模拟和实验研究等手段，系统研究大展弦比无人机空中自主组装的动力学建模、分析和控制等科学问题。研究内容包括：气动力高精度建模与高效数值仿真、空中自主组装的动力学建模与机翼对接的地面实验平台搭建、空中自主组装的控制研究。创新点为：发展弹性飞行器空中自主组装的动力学与控制方法，揭示气动弹性、气动耦合效应、机翼对接瞬间的碰撞等因素导致的复杂动力学行为，实现大展弦比无人机的高效空中组装和组装后组合飞行器的可靠飞行控制。本项目的研究成果将为模块化高空长航时无人机的发展提供重要理论基础和关键技术储备。

本项目以具有高容错性、适应性、可扩展性及生存能力等优点的模块化高空长航时无人机为背景，利用理论分析、数值模拟和实验研究等手段，系统研究大展弦比无人机空中自主组装的动力学建模、分析和控制等科学问题。研究内容包括：气动力高精度建模与高效数值仿真、空中自主组装的动力学建模与机翼对接的地面实验平台搭建、空中自主组装的控制研究。重要结果和关键数据包括：编写了非定常涡格法程序，实现了翼尖对接过程气动耦合效应的可靠建模；利用Kane方法建立了组合式无人机的飞行动力学模型，分析了不同对接构型的动力学特性；设计了具有双稳态特性的机翼对接机构，通过两架10kg级无人机的飞行试验验证了该机构的有效性；设计了翼尖对接的组合式无人机并进行了控制律综合研究，初步开展了较大气流扰动下的组合体飞行试验。本项目的研究成果可以为模块化高空长航时无人机的发展提供重要理论基础和关键技术储备。