Design and Realization of a Ducted Fan Water-air Amphibious UAV

doi:10.12382/bgxb.2023.1172

Abstract

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

CLC Number:

V279

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-.

Figures/Tables 25

Fig.1 New ducted fan water-air amphibious UAV

Fig.2 Flight status of UAV

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

Fig.4 A state of underwater navigation of UAV

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

Fig.5 Overall structural design of UAV

Fig.6 Design parameters of duct

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%

Fig.7 Initial ducted structure

Fig.8 Ducted structure

Fig.9 Comparison of experimental and theoretical pulling forces

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

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

Fig.11 Mesh division diagram of vehicle

Fig.12 Mesh division diagram of ducted fan

Fig.13 Trace diagram of the ducted fan airflow velocity

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

Fig.15 Nephogram of water flow velocity

Fig.16 Plot of simulation data

Fig.17 Wind tunnel experimental setup

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

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

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

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

Fig.21 A water-air amphibious UAV diving underwater

References 22

[1]	唐胜景, 张宝超, 岳彩红, 等. 跨介质飞行器关键技术及飞行动力学研究趋势分析[J]. 飞航导弹, 2021(6):7-13.
	TANG S J, ZHANG B C, YUE C H, et al. Analysis of key technology and flight dynamics research trend of transmedia vehicle[J]. Aerodynamic Missile Journal, 2021(6):7-13. (in Chinese)
[2]	武宇飞, 龙腾, 毛能峰. 跨介质变体飞行器设计优化技术进展[J]. 战术导弹技术, 2020(4):29-40.
	WU Y F, LONG T, MAO N F. Review of trans-media morphing flight vehicle design optimization techniques[J]. Tactical Missile Technology, 2020(4):29-40. (in Chinese)
[3]	侯涛刚, 靳典哲, 龚毓琰, 等. 水空跨介质航行器前沿技术进展[J]. 科技导报, 2023, 41(2):5-22. doi: 10.3981/j.issn.1000-7857.2023.02.001
	HOU T G, JIN D Z, GONG Y Y, et al. Frontier technology analysis and future prospects of aquatic unmanned aerial vehicle[J]. Science & Technology Review, 2023, 41(2):5-22. (in Chinese)
[4]	刘喜燕, 袁绪龙, 罗凯, 等. 跨介质航行器出入水连续弹道试验与仿真[J]. 兵工学报, 2023, 44(5):1225-1236.
	LIU X Y, YUAN X L, LUO K, et al. Experiments and simulation of continuous water entry and exit trajectories of a trans-media vehicle[J]. Acta Armamentarii, 2023, 44(5):1225-1236. (in Chinese) doi: 10.12382/bgxb.2022.0362
[5]	蒙超恒, 裴海龙, 程子欢. 涵道风扇式无人机的优先级控制分配[J]. 航空学报, 2020, 41(10):324017. doi: 10.7527/S1000-6893.2020.24017
	MENG C H, PEI H L, CHENG Z H. Prioritized control allocation for ducted fan UAVs[J]. Acta Aeronautica et Astronautica Sinica, 2020, 41(10):324017. (in Chinese) doi: 10.7527/S1000-6893.2020.24017
[6]	杨兴帮, 梁建宏, 文力, 等. 水空两栖跨介质无人飞行器研究现状[J]. 机器人, 2018, 40(1):102-114. doi: 10.13973/j.cnki.robot.170241
	YANG X B, LIANG J H, WEN L, et al. Research status of water-air amphibious trans-media unmanned vehicle[J]. Robot, 2018, 40(1):102-114. (in Chinese) doi: 10.13973/j.cnki.robot.170241
[7]	WANG X Y, YANG X B, ZHAO J W, et al. Aquatic unmanned aerial vehicles(AquaUAV):bionic prototypes,key technologies,analysis methods,and potential solutions[J]. Science China Technological Sciences, 2023, 66(8):2308-2331.
[8]	CHEN C, DONG T T, FU W J, et al. On dynamic characteristics and stability analysis of the ducted fan unmanned aerial vehicles[J]. International Journal of Advanced Robotic Systems, 2019, 16(4):1729881419867018.
[9]	王琛, 惠倩倩, 张帆. 水空跨域多模态共轴无人机设计[J]. 航空学报, 2023, 44(21):529047. doi: 10.7527/S1000-6893.2023.29047
	WANG C, HUI Q Q, ZHANG F. Design of water-air cross-domain multi-mode coaxial UAV[J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(21):529047. (in Chinese)
[10]	刘相知, 崔维成. 潜空两栖航行器的综述与分析[J]. 中国舰船研究, 2019, 14(增刊2):1-14.
	LIU X Z, CUI W C. An overview and analysis of the water-air amphibious vehicles[J]. Chinese Journal of Ship Research, 2019, 14(S2):1-14. (in Chinese)
[11]	WEISSHAAR T A. Morphing aircraft systems:historical perspectives and future challenges[J]. Journal of Aircraft, 2013, 50(2):337-353.
[12]	ROBERT S, ALEJANDRO A O, MIRKO K. Wind and water tunnel testing of a morphing aquatic micro air vehicle[J]. Interface Focus, 2017, 7(1):20160085.
[13]	STEWART W, WEISLER W, MACLEOD M, et al. Design and demonstration of a seabird-inspired fixed-wing hybrid UAV-UUV system[J]. Bioinspiration & Biomimetics, 2018, 13(5):056013.
[14]	刘华欣. 仿生跨介质航行器机理研究及原型机工程[D]. 北京: 北京航空航天大学, 2009.
	LIU H X. Investigation on the mechanism of a bionic trans-media vehicle and prototype project[D]. Beijing: Beihang University, 2009. (in Chinese)
[15]	刘伟. 潜水飞机总体设计与气动外形结构设计分析[D]. 南昌: 南昌航空大学, 2013.
	LIU W. The diving plane design and the aerodynamic shape structural design and analysis[D]. Nanchang: Nanchang Hangkong University, 2013. (in Chinese)
[16]	ALZU’BI H, MANSOUR L, RAWASHDEH O. Loon copter:implementation of a hybrid unmanned aquatic-aerial quadcopter with active buoyancy control[J]. Journal of Robotic Systems, 2018, 35(5):764-778.
[17]	胡志强, 杨翊, 耿令波, 等. 多旋翼水空两栖跨域海洋机器人:CN108128450A[P].2018-06-08.
	HU Z Q, YANG Y, GENG L B, et al. A multi-rotor water-air amphibious cross-domain marine robot:CN108128450A[P].2018-06-08. (in Chinese)
[18]	聂星宇, 胡志强, 孙浩添, 等. 倾转四旋翼跨介质飞行器水面垂直起飞策略研究[J]. 舰船科学技术, 2022, 44(4):66-71.
	NIE X Y, HU Z Q, SUN H T, et al. Research on vertical takeoff strategy on water surface of tilt rotor cross-domain unmanned vehicle[J]. Ship Science and Technology, 2022, 44(4):66-71. (in Chinese)
[19]	高永卫, 黄灿金, 魏闯. 一种涵道螺旋桨的简便设计方法[J]. 航空工程进展, 2013, 4(3):352-357.
	GAO Y W, HUANG C J, WEI C. A simple approach to the design of ducted propeller[J]. Advances in Aeronautical Science and Engineering, 2013, 4(3):352-357. (in Chinese)
[20]	柳青. 叶素动量理论(BEM)实现方法讨论[J]. 中国科技信息, 2016(18):82-84.
	LIU Q. Discussion on the method of realizing the blade element-momentum(BEM) theory[J]. China Science and Technology Information, 2016(18):82-84. (in Chinese)
[21]	郭佳豪, 周洲, 李旭. 对转涵道风扇桨叶高效设计方法[J]. 航空动力学报, 2022, 37(9):1835-1845.
	GUO J H, ZHOU Z, LI X. Efficient design method for blades of counter-rotating ducted fan[J]. Journal of Aerospace Power, 2022, 37(9):1835-1845. (in Chinese)
[22]	夏青元, 徐锦法. 变转速共轴旋翼载荷建模及实验验证[J]. 实验力学, 2012, 27(4):433-439.
	XIA Q Y, XU J F. Modeling and validation of aerodynamic loads for variable RPM coaxial rotor[J]. Journal of Experimental Mechanics, 2012, 27(4):433-439. (in Chinese)