新型涵道风扇水空两栖无人机设计与实现

doi:10.12382/bgxb.2023.1172

摘要/Abstract

摘要：

涵道风扇无人机可以实现起降与悬停,结构简单可靠且安全系数高。针对常规水空两栖无人机起降环境受限、折叠翼机构冗余与气动效率较低等问题,设计一种新型双涵道风扇水空两栖跨介质无人机。借鉴水下无人潜航器和无人驾驶飞机对机身进行优化设计,并采用倾转双涵道风扇动力系统。基于改进叶素动量理论,得出小型涵道风扇升力计算理论公式。分析力学物理场下无人机整体的结构振型,并通过流场有限元仿真验证整机的气动性能。分析结果表明:改进的小型涵道风扇升力计算公式计算结果与风洞试验结果基本一致,两者最大误差为4.5%,设计出的小型涵道风扇可提供20%的附加升力,气动效率高;通过模态分析发现该无人机机体结构较为稳定,振型合理;完成了风洞试验与新型涵道风扇水空两栖无人机在不同介质下的试飞验证,证明了无人机设计方案的可行性。

关键词: 跨介质无人飞行器, 飞行器设计, 涵道风扇, 气动特性, 结构振型

Abstract:

Ducted-fan unmanned aerial vehicle(UAV)can realize take-off,landing and hovering,which has a simple and reliable structure and high safety coefficient.In view of the restricted take-off and landing environment,redundancy of folding wing mechanism and low aerodynamic efficiency of conventional water-air amphibious UAVs,a new dual ducted fan water-air amphibious trans-media UAV is designed.The fuselage is optimized with reference to underwater unmanned underwater vehicle(UUV)and UAV,and the tilting dual ducted fan power system is used.Based on the improved blade element momentum theory,the theoretical formula for calculating the lift of small ducted fan is derived.The structural vibration pattern of UAV as a whole under the mechanical physical field is analyzed,and the aerodynamic performance of the whole vehicle is verified by flow field finite element simulation.The analyzed results show that the calculated results of the improved small ducted fan lift calculation formula are basically consistent with the wind tunnel test results,with the maximum error between the two results is 4.5%,and the designed small ducted fan can provide 20% of additional lift with high aerodynamic efficiency.Through the modal analysis,it is found that the UAV fuselage structure is more stable,and the vibration pattern is reasonable.The wind tunnel test and the test flight verification of the ducted fan water-air amphibious UAV in different media are completed,which proves the feasibility of the UAV design scheme.

Key words: trans-media unmanned aerial vehicle, vehicle design, ducted fan, aerodynamic characteristics, structural vibration mode

中图分类号:

V279

张鑫泽, 肖海建, 刘兴龙, 邢孔睿, 卢翔. 新型涵道风扇水空两栖无人机设计与实现[J]. 兵工学报, 2025, 46(1): 231172-.

ZHANG Xinze, XIAO Haijian, LIU Xinglong, XING Kongrui, LU Xiang. Design and Realization of a Ducted Fan Water-air Amphibious UAV[J]. Acta Armamentarii, 2025, 46(1): 231172-.

图/表 25

图1 新型涵道风扇水空两栖无人机

Fig.1 New ducted fan water-air amphibious UAV

图2 无人机空中飞行状态

Fig.2 Flight status of UAV

图3 无人机水面航行状态

Fig.3 A state of navigation of UAV on water surface

图4 无人机水下潜航状态

Fig.4 A state of underwater navigation of UAV

表1 无人机总体设计参数

Table 1 General design parameters of UAV

参数	取值
无人机总质量/kg	3
机身质量/g	800
单涵道质量/g	100
桨叶参数	三叶桨
涵道动平衡	消除
涵道转动角与舵机转动角之比	1

图5 无人机总体结构设计

Fig.5 Overall structural design of UAV

图6 涵道参数设计

Fig.6 Design parameters of duct

表2 涵道风扇设计参数

Table 2 Design parameters of ducted fan

参数	数值	参数	数值
c/mm	170	r^*/mm	37.91
d/mm	260	涵道展弦比d/c	1.529
D/mm	260	涵道唇口半径与高度之比r/c	0.223
b/mm	19	涵道最大厚度与高度之比b/c	0.112
h/mm	56	涵道出口直径与涵道内径之比D/d	1
β/(°)	7	桨盘面高度与涵道高度之比h/c	0.329
d_f/mm	254.4	涵道间隙比(d-d_f)÷2d_f×100%	1.1%

图7 初始涵道结构

Fig.7 Initial ducted structure

图8 涵道结构

Fig.8 Ducted structure

图9 试验拉力与理论拉力对比图

Fig.9 Comparison of experimental and theoretical pulling forces

表3 旋翼相关参数

Table 3 Related parameters of rotor

参数	数值
旋翼桨叶叶数k/片	3
R₁/m	0.127
旋翼攻角θ/(°)	6
旋翼扭转角/(°)	0
旋翼转速范围/(r·min^-1)	7000~13000

图10 水空两栖无人机前6阶振型

Fig.10 The first six order vibration modes of the water-air amphibious UAV

图11 飞行器网格划分图

Fig.11 Mesh division diagram of vehicle

图12 涵道风扇网格划分

Fig.12 Mesh division diagram of ducted fan

图13 涵道风扇气流速度云图

Fig.13 Trace diagram of the ducted fan airflow velocity

图14 气流速度云图与唇口气流分离图

Fig.14 Nephogram of air velocity and airflow separation at the lip

图15 水流速度云图

Fig.15 Nephogram of water flow velocity

图16 仿真数据图

Fig.16 Plot of simulation data

图17 风洞试验装置

Fig.17 Wind tunnel experimental setup

表4 风洞试验数据

Table 4 Wind tunnel experimental data

序号	电调电压/V	风扇转速/ (r·min^-1)	角速度/ (rad·s^-1)	风扇拉力/kg	无涵道拉力/kg	有涵道拉力/kg	附加升力/%	试验值与理论值误差/%
1	11.1	7200	753.6	0.724	0.658	0.706	7.29	2.5
2	12.5	9240	967.12	0.879	0.745	0.854	14.63	2.8
3	15.8	12800	1340	1.243	0.995	1.186	19.20	4.5

图18 实际拉力与理论拉力对比

Fig.18 Comparison of actual pulling force and theoretical pulling force

图19 水空两栖无人机空中飞行

Fig.19 A water-air amphibious UAV flying in the air

图20 水空两栖无人机水面航行

Fig.20 A water-air amphibious UAV navigating on the surface of water

图21 水空两栖无人机水下潜航图

Fig.21 A water-air amphibious UAV diving underwater

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