聚变反应堆空陆两栖巡检无人机的设计与开发

Drones Pub Date : 2024-05-11 DOI:10.3390/drones8050190
Guodong Qin, Youzhi Xu, Wei He, Qian Qi, Lei Zheng, Haimin Hu, Yong Cheng, Congju Zuo, Deyang Zhang, Aihong Ji
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引用次数: 0

摘要

本文提出了一种微型空陆两栖巡检无人机(AAID)的设计方法,用于最新的紧凑型聚变堆放电间隙观测任务。利用两栖功能,AAID 实现了在狭窄维修通道内爬行运输和聚变堆内飞行观测的功能。为实现小型化,移动平台采用仿生蟑螂轮腿系统,提高了越障能力。飞行平台采用机架与控制一体化的旋翼结构,减轻了 AAID 的整体重量。基于 AAID 动态模型和最优控制方法,分别设计了飞行模式、悬停模式和飞爬转换模式下的控制策略。最后,建立了 AAID 原型机,并分别进行了爬行、悬停和飞爬过渡控制实验。试验结果表明,AAID 的最大爬行倾角大于 20°。AAID 在悬停过程中的滚动角、俯仰角和偏航角偏差均小于 2°。AAID 在飞行-爬行过渡阶段的着陆成功率也超过了 77%,证明了结构设计和动态控制策略的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Design and Development of an Air–Land Amphibious Inspection Drone for Fusion Reactor
This paper proposes a design method for a miniature air–land amphibious inspection drone (AAID) to be used in the latest compact fusion reactor discharge gap observation mission. Utilizing the amphibious function, the AAID realizes the function of crawling transportation in the narrow maintenance channel and flying observation inside the fusion reactor. To realize miniaturization, the mobile platform adopts the bionic cockroach wheel-legged system to improve the obstacle-crossing ability. The flight platform adopts an integrated rotor structure with frame and control to reduce the overall weight of the AAID. Based on the AAID dynamic model and the optimal control method, the control strategies under flight mode, hover mode and fly–crawl transition are designed, respectively. Finally, the prototype of the AAID is established, and the crawling, hovering, and fly–crawling transition control experiments are carried out, respectively. The test results show that the maximum crawling inclination of the AAID is more than 20°. The roll angle, pitch angle, and yaw angle deviation of the AAID during hovering are all less than 2°. The landing success rate of the AAID during the fly–crawl transition phase also exceeded 77%, proving the effectiveness of the structural design and dynamic control strategy.
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