Trans-Media Kinematic Stability Analysis for Hybrid Unmanned Aerial Underwater Vehicle
2022
Tongjin Wei | Di Lu | Zheng Zeng | Lian Lian
In recent years, hybrid unmanned aerial underwater vehicles (HAUVs), which are capable of air&ndash:water trans-media motion, have been increasingly developed. For most HAUVs, air&ndash:water trans&ndash: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&ndash:water trans&ndash:media motion of HAUVs. First, a simplified dynamic model of HAUVs is proposed, including the hydrodynamic forces and the time&ndash:varying buoyancy. Then, based on the proposed model and the Hurwitz method, this paper derives the air&ndash:water trans&ndash:media kinematic stability criterion for HAUVs. This criterion can be applied to most air&ndash:water trans&ndash:media motions that satisfy the assumptions in this paper. Finally, this paper takes &ldquo:Nezha&rdquo:, a novel HAUV, as an example to analyze its air&ndash:water trans&ndash:media kinematic stability. The results show that the proposed criterion is effective in judging the vehicle&rsquo:s design, including the geometry and thruster power, which are important factors in the performance of the trans&ndash:media process.
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