期刊
JOURNAL OF MARINE SCIENCE AND ENGINEERING
卷 10, 期 2, 页码 -出版社
MDPI
DOI: 10.3390/jmse10020275
关键词
hybrid unmanned aerial underwater vehicle; stability; air-water trans-media motion; AUV
资金
- National Natural Science Foundation of China [41706108]
- Science and Technology Commission of Shanghai Municipality Project [20dz1206600]
- Natural Science Foundation of Shanghai [20ZR1424800]
- Shanghai Jiao Tong University Scientific and Technological Innovation Funds [2019QYB04]
This paper investigates the kinematic stability of hybrid unmanned aerial underwater vehicles (HAUVs) capable of air-water trans-media motion. The study proposes a simplified dynamic model and derives a kinematic stability criterion based on the model and the Hurwitz method. The analysis of a novel HAUV named Nezha demonstrates the effectiveness of the criterion in evaluating vehicle design.
In recent years, hybrid unmanned aerial underwater vehicles (HAUVs), which are capable of air-water trans-media motion, have been increasingly developed. For most HAUVs, air-water trans-media motion is a relatively dangerous and difficult process. Therefore, it is of great significance to study the particular process. This paper presents the first study on the kinematic stability of the air-water trans-media motion of HAUVs. First, a simplified dynamic model of HAUVs is proposed, including the hydrodynamic forces and the time-varying buoyancy. Then, based on the proposed model and the Hurwitz method, this paper derives the air-water trans-media kinematic stability criterion for HAUVs. This criterion can be applied to most air-water trans-media motions that satisfy the assumptions in this paper. Finally, this paper takes Nezha, a novel HAUV, as an example to analyze its air-water trans-media kinematic stability. The results show that the proposed criterion is effective in judging the vehicle's design, including the geometry and thruster power, which are important factors in the performance of the trans-media process.
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