Underwater Dynamics Modeling and Simulation Analysis of Trans-media Multicopter

In response to the needs of field environment monitoring and pollution source search, a trans-media multicopter is presented which combined with the two structural characteristics of an underwater vehicle and an aerial multicopter. Firstly, the shape characteristics of the trans-media multicopter, which is similar to a short cylinder, and its overall structure with six rotors and two ducted propellers are introduced, as well as its different movement modes in water and air respectively. According to Newton-Euler`s first and second laws, the horizontal and rotational motion equations of the multicopter are deduced respectively, and then the six-degree-of-freedom motion equations are derived. According to its structural characteristics and stress conditions when running underwater, a hydrodynamic modeling was carried out. Simplified physical modeling is established in ADAMS, and the motion stability performance of the pushing machine under different thrust differences and inclination angles is explored, and corresponding motion control schemes are provided.