Investigation into the Dynamic Modeling and Control Technologies for a Novel Unmanned Flight Submarine Vehicle

To address the substantial fluctuations in damping and the excessive energy dissipation experienced by unmanned aerial vehicles while transitioning between media, resulting in reduced response speed, this paper diminished control precision, and compromised aircraft stability. This article presents the design of a novel unmanned aerial vehicle (UAV) capable of achieving improved cross-media performance and enhanced precision in attitude and position control. Firstly, commencing with the structural design of flight submarines, this article investigates various commonly employed aircraft types. It employs an optimization scheme evaluation approach to design a multi-rotor aircraft equipped with three-wing propellers, facilitating cross-medium motion; Secondly, the Newton-Euler equations were employed to elucidate the motion of the flight submarine and distinct motion models for both aerial and aquatic phases of the flight submarine were formulated. Sensor-acquired data underwent refinement via Kalman filtering; Subsequently, we employ a dual closed-loop disturbance rejection PID controller to govern both the attitude and position of the flight submersible. Lastly, the model and controller model of the flight submarine are constructed using MATLAB/Simulink, followed by simulations of attitude control and position tracking. The simulation results demonstrate the flight submersible's capability for stable operation in both air and water, as well as its proficiency in trajectory tracking. Furthermore, cross-medium simulation experiments conducted on the flight submarine model confirm its ability to accomplish seamless transitions between water and air during cross-medium flight.