共形半环翼水空介质跨越航行器出水起飞阶段建模与控制方法研究

Aimed at achieving the water-air integration vehicle that has the ability to repeatedly cross over the two media, in order to meet the need of sea-air integration combat and long-range fixed - point ocean detection, facing the great challenge in the design of the vehicle caused by the great difference in the characteristics of the water and air, based on the idea of ring wing configuration, this project proposed a project of trans-media vehicle in semi-ring wing configuration. In the project, as being the link between the entire motion cycles of the vehicle, the water-exit and take-off stage is the key to achieve the repeated crossing of between two media for the vehicle. On this basis, this project will take the vehicle as the research object and investigate the problem about the modeling and control method in the water-exit and take-off stage. The main study contents include five parts: model optimization and analysis of motion characteristics of the vehicle during the water-exit process, analysis of pneumatic characteristics of morphing process, analysis of dynamic characteristics of morphing process, morphing flight control strategy during morphing process, optimal crossing strategy for vehicle. And focus on three technical problems: optimization of water dynamics model, multi-body dynamics modeling of morphing vehicle, design of morphing flight controller. The development and the expected results of the project will provide the necessary theoretical support for the realization of the media crossing of the trans-media vehicle.

以实现能够反复跨越的水空一体化航行器为目标，以满足我国海空一体作战及远距离定点海洋探测需求为依托，面对由水空流体性质差异而造成的航行器设计中的巨大挑战，基于环翼布局的思想，本项目提出一种共形半环翼构型的介质跨越变体航行器的方案。方案中，出水起飞跨越阶段作为航行器全周期运动的纽带环节，是实现介质间反复跨越的关键。据此，本项目将以此类航行器为对象，研究其出水起飞跨越阶段的建模与控制问题。根据航行器出水起飞阶段的特点，研究拟从出水过程和变体飞行过程两个方面分别展开，主要研究内容包括航行器的出水动力学模型优化及运动特性分析、变体过程气动特性和动力学特性分析、变体过程变体飞行控制策略以及航行器最优跨越策略五部分，重点研究：出水动力学模型优化、变体航行器多体动力学建模及变体飞行控制器设计三个技术难题。本项目的开展及预期成果将为航行器介质跨越目标的实现提供所需的理论支持。

为确保跨介质航行器实现反复水空介质跨越的目的，出水起飞跨越阶段是其全周期运动的关键阶段。本项目以共形半环翼水空介质跨越航行器的出水起飞跨越阶段为研究对象，重点研究了出水过程动力学建模与运动特性分析问题、变体飞行多体动力学建模与运动仿真问题和出水起飞控制器设计问题。针对出水跨越过程，建立了能准确描述出水跨越动力学特性的数学模型，以此为基础，结合二元平面波浪理论分析了自由出水过程中波浪扰动的影响，总结跨介质航行器在不同初始条件下出水跨越的运动特性；针对出水后空中变体飞行过程，数值仿真了跨介质航行器的气动参数，构建了变体过程的跨介质航行器的多刚体模型，分析了机翼变体过程对跨介质航行器运动状态的影响；在此基础上，设计了一种降保守性参数依赖Lyapunov函数的鲁棒变增益输出反馈变体飞行控制器，并研究了控制器综合所需的变增益调度策略，通过对无控出水和变体飞行控制过程的整体仿真，证明了控制器的有效性和鲁棒性，进一步，通过对出水及变体飞行过程的仿真分析，研究了不同初始出水条件下最小推力的变化规律。. 在项目执行期间，发表了高水平学术论文22篇，其中SCI收录15篇，EI收录1篇；培养了博士研究生4名，硕士研究生4名；项目研究成果参加国内学科竞赛获三等奖2项、优秀奖1项。

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