提出可双向稳定转换的停转旋翼无人机SPERO，解决飞行模式冲突难题。
Unlocking Stopped-Rotor Flight: Development and Validation of SPERO, a Novel UAV Platform
- 采用翻转锁定机翼与主动压力中心机制实现双模飞行切换
- 五旋翼架构配合十一状态控制器完成首次稳定双向过渡
- 为停转旋翼无人机提供可复用的设计与控制框架
停转旋翼飞行器长期以来被视为在垂直起降和前飞两种模式下耗时均等的任务（如农情监测、搜救、末端配送）的理想选择。其核心结构为中央升力面在垂直起降时旋转产生升力，前飞时锁止以被动产生升力，具备跨模态高效率潜力。然而，由于两种飞行模式间的气动与稳定性冲突，实际应用长期受限。本文提出SPERO（Stopped-Penta Rotor）——一种停转旋翼无人飞行器，配备翻转锁定机翼、主动压力中心调节机构、推力矢量配重平衡系统、五旋翼布局及十一状态机飞行控制器，实现几何构型与控制策略的协同重构。这些创新共同突破了停转旋翼飞行的技术瓶颈，首次实现稳定、双向的垂直起降与前飞模式转换，并建立通用化的设计与控制范式。
原文摘要 · Abstract (English)
Stop-rotor aircraft have long been proposed as the ideal vertical takeoff and landing (VTOL) aircraft for missions with equal time spent in both flight regimes, such as agricultural monitoring, search and rescue, and last-mile delivery. Featuring a central lifting surface that rotates in VTOL to generate vertical thrust and locks in forward flight to generate passive lift, the stop-rotor offers the potential for high efficiency across both modes. However, practical implementation has remained infeasible due to aerodynamic and stability conflicts between flight modes. In this work, we present SPERO (Stopped-Penta Rotor), a stop-rotor uncrewed aerial vehicle (UAV) featuring a flipping and latching wing, an active center of pressure mechanism, thrust vectored counterbalances, a five-rotor architecture, and an eleven-state machine flight controller coordinating geometric and controller reconfiguration. Furthermore, SPERO establishes a generalizable design and control framework for stopped-rotor UAVs. Together, these innovations overcome longstanding challenges in stop-rotor flight and enable the first stable, bidirectional transition between VTOL and forward flight.
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