Underwater Gliding Dynamic Analysis of a Novel Aerial-Aquatic Rotorcraft

At present, most of the aerial-aquatic rotorcraft use two power systems, or a set of air power equipment to complete the air and underwater motion. It consumes a lot of energy to drive the vehicle to move in the water by the power device. For the system that needs to move in the water, such as the aerial-aquatic rotorcraft, its endurance is limited. How to reduce the energy consumption of underwater movement and enhance its endurance is the current difficulty and pain point. Aiming at this problem, a new solution is proposed in this design. The aircraft combines the design concept of helicopter rotor and underwater glider, adding the characteristics of underwater glider that can travel long time and long distance into the interchangeable aircraft, and cleverly realizes the conversion of helicopter rotor and underwater glider wing through the pitch variable mechanism. At the same time, it is equipped with a novel lightweight buoyancy and center of gravity adjustment system, so that the aircraft can not only realize the cross-medium movement like the aerial-aquatic rotorcraft, but also realize the lift by adjusting the buoyancy like the underwater glider, and realize the movement by using the water power. In this paper, the rotor/wing interchange mechanism is mainly designed, and the feasibility of the mechanism is verified by the three-dimensional model of the aircraft. The underwater kinematics and dynamics model of the aerial-aquatic rotorcraft is established, and the underwater glide balance model of the vehicle is further established based on this, and the glide balance process in two motion cycles is analyzed.