通过可重构机翼与无摇臂机构，实现垂直起降无人机的高效稳定飞行。
Design and Control of a Coaxial Dual-rotor Reconfigurable Tailsitter UAV Based on Swashplateless Mechanism
- 采用可收放机翼与同轴异构双旋翼设计，提升能效与稳定性。
- 无摇臂机构结合摆动铰链，降低变桨时振动，提升控制精度。
- 适用于需要长航时与高机动性的垂直起降无人机研发团队。
尾坐式垂直起降无人机因自重轻而广泛应用，其无需倾转机构，但多旋翼模式下机身正面面积大，易受风扰。为此，本研究设计了可重构机翼，使其在多旋翼模式下收起，在固定翼模式下展开。为提高功率效率，采用同轴异构双旋翼配置，显著降低整体功耗。为减轻结构重量并简化复杂度，引入改进型无摇臂机构，实现多旋翼模式下的俯仰与滚转控制。通过增加摆动铰链优化结构，有效减少周期性加速减速过程中的振动。最终，通过全面的过渡飞行测试，验证了该尾坐式无人机在整个飞行包线内的稳定飞行性能。
原文摘要 · Abstract (English)
The tailsitter vertical takeoff and landing (VTOL) UAV is widely used due to its lower dead weight, which eliminates the actuators and mechanisms for tilting. However, the tailsitter UAV is susceptible to wind disturbances in multi-rotor mode, as it exposes a large frontal fuselage area. To address this issue, our tailsitter UAV features a reconfigurable wing design, allowing wings to retract in multi-rotor mode and extend in fixed- wing mode. Considering power efficiency, we design a coaxial heterogeneous dual-rotor configuration, which significantly re- duces the total power consumption. To reduce structural weight and simplify structural complexity, we employ a swashplateless mechanism with an improved design to control pitch and roll in multi-rotor mode. We optimize the structure of the swashplateless mechanism by adding flapping hinges, which reduces vibration during cyclic acceleration and deceleration. Finally, we perform comprehensive transition flight tests to validate stable flight performance across the entire flight envelope of the tailsitter UAV.
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