发表机构
University of Hawaii at Manoa（夏威夷大学马诺阿分校）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究通过设计定制转子导流罩系统，将Crazyflie 2.1微型飞行器转变为多模式机器人，开发经验模型优化导流罩配置，提升了地面效应性能并延长了续航时间，为相关后续研究提供了基础。
AI 中文摘要
用于室内或建筑环境附近的小型旋翼飞行器续航时间极为有限。本文介绍了一种定制导流罩系统的设计与实验特性，该系统可将Crazyflie 2.1微型飞行器转变为多模式机器人，既能作为高效气垫船运行，也能作为自由飞行的无人机运行。研究人员开发了定制实验平台，用于精确控制悬停高度和转子占空比，并自动记录升力数据。研究人员对导管、进气口和喷嘴的几何结构进行了参数测试，以探究导流罩配置对地面效应和自由飞行性能的影响。研究人员开发了一种经验模型，该模型与典型的旋翼飞行器地面效应模型不同，能捕捉中间高度降低力的吸降效应。研究表明，通过合理设计导流罩，可增强有益的地面效应，同时减弱贴近地面和自由飞行时的负面影响。优化后的配置展现出近三倍的地面效应力，同时保持相当的无地面效应空气动力推力，尽管增加的导流罩质量会降低自由飞行的控制权限。研究人员使用薄膜热成型部件制造了轻质导流罩，与原始无人机相比，其单次充电的总飞行时间在地面效应下增加了60%，而自由飞行时仅减少30%。最后，研究人员使用简单的模式切换控制器演示了空中受控飞行、贴近地面悬停以及悬停到飞行的过渡，报告了跟踪误差以量化性能。本研究为未来轻型地面效应飞行器和混合无人机-气垫船系统的研究提供了经实验验证且易于采用的基础。
英文摘要
Small rotorcraft intended for use indoors or around the built environment have extremely limited flight duration. This paper presents the design and experimental characterization of a custom shroud system that transforms a Crazyflie 2.1 micro air vehicle into a multi-modal robot capable of operating as a high-efficiency hovercraft or a free-flying drone. A custom experimental platform was developed for precise control of hover height and rotor duty cycle, and automated data logging of lift forces. Parametric testing of duct, intake, and nozzle geometries was performed to investigate the impact of shroud configuration on in-ground-effect and free-flight performance. An empirical model is developed which, unlike typical models for ground effect in rotorcraft, captures the suckdown effect that reduces force at intermediate height. It is shown that, through proper design of the shroud, beneficial ground effects can be increased while diminishing negative effects both close to the ground and in free flight. An optimized configuration exhibited nearly three times higher in-ground-effect force while maintaining comparable out-of-ground-effect aerodynamic thrust, although the added shroud mass reduces free-flight control authority. Lightweight shrouds are manufactured using thin-film thermoformed components, and total single-charge flight time is shown to increase by 60% in-ground-effect while decreasing by only 30% in free-flight as compared to the stock drone. Finally, controlled flight in the air, hovering close to the ground, and hover-to-flight transitions are demonstrated using a simple mode-switching controller, with tracking errors reported to quantify performance. This work provides an experimentally-validated and easily adoptable foundation for future research into lightweight ground-effect vehicles and hybrid drone-hovercraft systems.
