Aerospace Science and Technology最新文献_第2页

Fast trajectory optimization with time-varying chance-constrained model predictive control of quadcopters for dynamic collision avoidance 基于时变机会约束模型的四轴飞行器动态避碰快速轨迹优化预测控制

IF 5.8 1区工程技术 Q1 ENGINEERING, AEROSPACE

Aerospace Science and Technology

Pub Date : 2026-07-01 Epub Date: 2026-02-03 DOI: 10.1016/j.ast.2026.111815

D.M.K.K. Venkateswara Rao , Hamed Habibi , Holger Voos

In this paper, we propose a parallelized optimization-based framework for autonomous and safe control of quadrotor Unmanned Aerial Vehicles (UAVs). We achieve this by designing a real-time optimal trajectory planner and a time-varying collision chance-constrained model predictive controller. We consider an obstacle with unknown dynamics in the operational space of the UAV and plan time-optimal transfer maneuvers using the shifted Chebyshev pseudospectral method. We propose a novel sigmoid function-based approximation to the conditional collision avoidance constraint of UAV trajectory segments and enable automatic differentiation for achieving real-time implementation. Given the uncertain positions of the UAV and the obstacle, we propose a time-varying probability margin for the collision avoidance constraint and design a chance-constrained model predictive controller to track the reference optimal trajectory with minimum tracking error and avoid collisions in real-time. Moreover, we parallelize the trajectory planner and the controller to address their asynchronous computational execution. The scalability and effectiveness of the proposed architecture are evaluated by performance analysis through Monte Carlo and numerical simulations. Finally, the real-time feasibility of the integrated approach is validated by indoor high-speed maneuvers and dynamic collision avoidance experiments.

本文提出了一种基于并行优化的四旋翼无人机自主安全控制框架。我们通过设计实时最优轨迹规划器和时变碰撞机会约束模型预测控制器来实现这一目标。考虑无人机作战空间中存在未知动力学障碍，利用移位切比雪夫伪谱法规划时间最优转移机动。我们提出了一种新的基于s型函数的无人机轨迹段条件避碰约束近似方法，并实现了自动微分，实现了实时实现。针对无人机和障碍物位置的不确定性，提出了时变概率裕度的避碰约束，设计了机会约束模型预测控制器，以最小的跟踪误差跟踪参考最优轨迹，实现了实时避碰。此外，我们将轨迹规划器和控制器并行化，以解决它们的异步计算执行问题。通过蒙特卡罗性能分析和数值模拟，对该体系结构的可扩展性和有效性进行了评价。最后，通过室内高速机动和动态避碰实验验证了该综合方法的实时性可行性。

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引用次数: 0

Three-dimensional redesign method for high efficiency transonic compressors based on spatial shock wave control 基于空间激波控制的高效跨音速压气机三维再设计方法

IF 5.8 1区工程技术 Q1 ENGINEERING, AEROSPACE

Aerospace Science and Technology

Pub Date : 2026-07-01 Epub Date: 2026-01-30 DOI: 10.1016/j.ast.2026.111808

Runze Li , Shimin Wang , Zhidong Chi , Qi Wang , Bin Jiang

A redesign scheme for transonic rotors was conducted to enhance their aerodynamic performance through shock structure control. Improvements in aerodynamic efficiency were achieved by adjusting the shape of the blade leading-edge curve and the radial distribution of throat width. Validated numerical simulations were employed to analyze the changes in shock structure associated with the redesigned blade. The relationship between the radial distributions of leading-edge curvature and throat width and the 3D aerodynamic loading was investigated. The results demonstrate that the three-dimensionally redesigned transonic rotor is significantly improved in operating efficiency, and an increase in stall margin is observed, primarily due to an improved shock structure. Specifically, an additional radial pressure gradient is induced by tailoring the radial distribution of leading-edge curvature. This effectively modifies the blunt body shock near the leading-edge, and both the extent and associated losses of the high Mach number region on the pressure side are reduced. Furthermore, a more favorable rotor loading distribution is yielded by the new radial distribution of throat width. Notably, the shock detachment distance near the blade tip is reduced, and oblique shock intensity is weakened. The interaction between leakage vortices and shocks is also diminished, thereby reducing losses from low-energy fluid. These flow field improvements collectively contribute to a significant enhancement in aerodynamic performance. The best-performing rotor in the redesign set achieved a 2.55% increase in efficiency and a 12.01% increase in stall margin.

针对跨声速旋翼，提出了一种通过激波结构控制来提高其气动性能的设计方案。通过调整叶片前缘曲线的形状和喉道宽度的径向分布来提高气动效率。通过验证的数值模拟分析了重新设计后叶片激波结构的变化。研究了前缘曲率和喉道宽度的径向分布与三维气动载荷的关系。结果表明，经过三维重新设计的跨声速转子运行效率显著提高，失速余量增加，这主要是由于改进了激波结构。具体地说，通过调整前缘曲率的径向分布来诱导额外的径向压力梯度。这有效地改变了前缘附近的钝体激波，降低了压力侧高马赫数区域的范围和相关损失。此外，新的喉道宽度径向分布使转子载荷分布更加有利。值得注意的是，叶尖附近的激波脱离距离减小，斜激波强度减弱。泄漏涡和冲击之间的相互作用也减少了，从而减少了低能流体的损失。这些流场的改进共同促进了气动性能的显著提高。在重新设计组中，性能最好的转子效率提高了2.55%，失速裕度提高了12.01%。

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引用次数: 0

Task allocation with communication coordination in UAV swarms via asynchronous multi-Objective policy optimization 基于异步多目标策略优化的无人机群通信协调任务分配

IF 5.8 1区工程技术 Q1 ENGINEERING, AEROSPACE

Aerospace Science and Technology

Pub Date : 2026-07-01 Epub Date: 2026-02-03 DOI: 10.1016/j.ast.2026.111760

Zehao Xiong, Yexun Xi, Yizhe Cao, Chuan Li, Rong Li, Jie Li

Task allocation in UAV swarms is becoming increasingly complex due to the complexity of tasks, communication limitations, and the robustness of the allocation algorithm. Combining reinforcement learning and task allocation demonstrates great potential in enhancing algorithm performance and optimizing communication. However, existing research has overlooked the structural conflict between task conflicts and communication overhead, which leads to significant challenges in exploration and training instability. To this end, this paper introduces the Task Allocation with Communication Coordination (TACC) method, which aims to train a gated mechanism strategy to coordinate communication timing while balancing transmission efficiency and allocation reliability. First, the TACC is formalized as a POMDP, for which the channel access and other features are designed to facilitate observations. Actions are inter-agent adaptive gating mechanisms, and the shared reward reflects global task conflicts. Second, to address the asynchronous learning under the CTDE, an asynchronous experience aggregation method is proposed to align trajectories from different agents. Then, the MOCPO is proposed, which applies constrained policy optimization directly to the policy gradient via a Lagrangian loss, thereby stabilizing gated communication early in training and enhancing sample efficiency and convergence. The computational complexity, boundary conditions, convergence, and communication complexity of the TACC are theoretically analyzed. Finally, sim-to-real experiments are conducted in the HIL environment, and the results demonstrate the optimal trade-off achieved by the proposed method and its overall state-of-the-art approaches. Ablation studies and hyperparameter experiments further validated the stability of MOCPO. Specifically, the communication strategy is effectively deployed in the RK3588 SOC, and the flight experiment demonstrates the superior scheduling outcomes of TACC within the ten-UAV swarm in the search and rescue scenario.

由于任务的复杂性、通信的局限性和分配算法的鲁棒性，无人机群中的任务分配变得越来越复杂。将强化学习与任务分配相结合，在提高算法性能和优化通信方面具有很大的潜力。然而，现有的研究忽略了任务冲突和通信开销之间的结构性冲突，这导致了探索和训练不稳定性方面的重大挑战。为此，本文引入了带有通信协调的任务分配（TACC）方法，该方法旨在训练一种门控机制策略来协调通信时序，同时平衡传输效率和分配可靠性。首先，将TACC形式化为POMDP，为POMDP设计通道访问和其他功能以方便观察。行为是agent间的自适应门控机制，共享奖励反映了全局任务冲突。其次，为了解决CTDE下的异步学习问题，提出了一种异步经验聚合方法来对齐来自不同智能体的轨迹。然后，提出了MOCPO算法，该算法通过拉格朗日损失直接对策略梯度进行约束策略优化，从而在训练早期稳定门控通信，提高样本效率和收敛性。从理论上分析了TACC的计算复杂度、边界条件、收敛性和通信复杂度。最后，在HIL环境中进行了模拟到真实的实验，结果证明了所提出的方法及其总体最新方法所实现的最佳权衡。烧蚀研究和超参数实验进一步验证了MOCPO的稳定性。具体而言，该通信策略在RK3588 SOC中得到了有效的部署，飞行实验验证了TACC在10架无人机群搜救场景下的优越调度效果。

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引用次数: 0

Thermal model test and multi-scale simulation method for the lattice-structured air rudder of hypersonic flight vehicle 高超声速飞行器格构空气舵热模型试验及多尺度仿真方法

IF 5.8 1区工程技术 Q1 ENGINEERING, AEROSPACE

Aerospace Science and Technology

Pub Date : 2026-07-01 Epub Date: 2026-02-09 DOI: 10.1016/j.ast.2026.111885

Long Zhang, Wenlin Liao, Bowen Liu, Song Feng, Juntao Fan

This paper conducts experimental investigation and multi-scale simulation for the thermal-vibration characteristics of lattice-structured air rudders, aiming to provide a comprehensive understanding of how these complex structures behave under combined thermal and vibration loads. Firstly, a quartz infrared radiation heater device with independent control tunnels is designed and fabricated to produce thermal gradient loads on the air rudder in accordance with flight service condition. On this basis, thermal model test is performed on the rudder. In order to simulate the thermal-vibration behaviour, an orthotropic temperature-dependent material model is established, where in-situ samples of different directions have been printed simultaneously with the rudder and tested under various temperature conditions to fit the material model parameters. Afterwards, a multi-scale simulation method, which is capable of linking the mesoscopic lattice structures with the macroscopic material properties, is developed to simulate the thermal model test. The maximum absolute relative error between the simulated and tested natural frequencies is within 5.0%, and the simulated and tested mode shapes are in good agreement with each other, which proves that the developed method possesses good capability for computing natural frequencies and mode shapes of the lattice-structured air rudder under complicated thermal conditions. This combined approach enables a more thorough investigation of the thermal-vibration characteristics, leading to improved design and performance of lattice-structured air rudders.

本文对栅格结构空气舵的热振动特性进行了实验研究和多尺度模拟，旨在全面了解这些复杂结构在热振动复合载荷作用下的性能。首先，根据飞行服役条件，设计制作了具有独立控制通道的石英红外辐射加热装置，对气动舵产生热梯度载荷。在此基础上，对舵机进行了热模型试验。为了模拟方向舵的热振动行为，建立了正交各向异性温度相关的材料模型，并在不同的温度条件下对不同方向的原位样品进行了打印，以拟合材料模型参数。随后，提出了一种能够将介观晶格结构与宏观材料性能联系起来的多尺度模拟方法来模拟热模型试验。仿真与试验固有频率的最大绝对相对误差在5.0%以内，模态振型与试验模态振型吻合较好，证明该方法具有较好的计算复杂热工况下格构空气舵固有频率和模态振型的能力。这种结合的方法可以更彻底地研究热振动特性，从而改进栅格结构空气舵的设计和性能。

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引用次数: 0

Fire suppression of recirculation zone flames in aircraft nacelles: effects of blockage ratio and crossflow on extinction thresholds and mixing time 飞机机舱内再循环区火焰的灭火：堵塞比和横流对熄灭阈值和混合时间的影响

IF 5.8 1区工程技术 Q1 ENGINEERING, AEROSPACE

Aerospace Science and Technology

Pub Date : 2026-07-01 Epub Date: 2026-02-09 DOI: 10.1016/j.ast.2026.111883

Qiyong Zhou, Song Lu, Hui Shi, Heping Zhang, Rui Chen

The recirculation zone flame is typical of the flame structure in aircraft nacelle. Based on a transient extinguishing agent injection experiment apparatus, the combustion and extinguishing of recirculation zone flame under the influence of blockage ratio and wind velocity were studied, and the fire extinguishing concentration in free flow and recirculation zone were measured. A modeling study was conducted on the dynamic evolution of the flame in the recirculation zone. The critical extinguishing concentration, fire extinguishing time, and characteristic mixing time (τ) were determined and correlated with flow parameters. Results show that obstacles increase local concentrations but also stabilize flames, raising the extinction threshold. Through analysis of the mean flame length, a dynamic evolution prediction model suitable for the mean flame length in the recirculation zone has been established. A revised correlation for τ was obtained,

τ = 36.6 (h_{s} / U_{a}^{*})

, which exceeds values reported under non-combustion conditions and highlights the stronger coupling between mixing and reactive processes. Application to aircraft nacelle scenarios indicates that, due to short discharge durations and obstruction effects, the required free flow concentration of HFC-125 exceeds nominal design specifications to ensure effective suppression in recirculation zones. This methodology provides a quantitative basis for performance evaluation of HFC-125 systems in safety-critical applications, supporting system safety assessments during early design and certification stages.

再循环区火焰是飞机机舱内典型的火焰结构。基于瞬态灭火剂注入实验装置，研究了阻塞比和风速对再循环区火焰燃烧和灭火的影响，并测量了自由流动区和再循环区的灭火浓度。对循环区内火焰的动态演化进行了模拟研究。确定了临界灭火浓度、灭火时间和特征混合时间（τ），并将其与流量参数相关联。结果表明，障碍物增加了局部浓度，但也稳定了火焰，提高了熄灭阈值。通过对平均火焰长度的分析，建立了适用于再循环区平均火焰长度的动态演化预测模型。修正后的相关系数τ=36.6(hs/Ua*)，超过了非燃烧条件下报道的值，突出了混合和反应过程之间更强的耦合。在飞机机舱场景的应用表明，由于排放持续时间短和阻塞效应，HFC-125所需的自由流动浓度超过了公称设计规范，以确保在再循环区域有效抑制。该方法为安全关键应用中HFC-125系统的性能评估提供了定量基础，支持早期设计和认证阶段的系统安全评估。

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引用次数: 0

A variable curvature deep shell model for nonlinear vibrations of twisted bilayer graphene reinforced titanium composites 扭曲双层石墨烯增强钛复合材料非线性振动的变曲率深壳模型

IF 5.8 1区工程技术 Q1 ENGINEERING, AEROSPACE

Aerospace Science and Technology

Pub Date : 2026-07-01 Epub Date: 2026-02-10 DOI: 10.1016/j.ast.2026.111892

Z.H. Fu , W. Zhang , Y.F. Zhang

The rapid expansion of the low-altitude economy has created a growing demand for lightweight aircraft structures with high vibration resistance. To address this challenge, this study investigates the nonlinear vibrations of titanium matrix composites reinforced with twisted bilayer graphene (TBLG). A novel variable curvature shell function model, specifically designed for the complex geometries of low-altitude aircraft, to accurately capture nonlinear structural responses, is proposed to accurately capture nonlinear structural responses. Furthermore, a nonlinear functional gradient (FG-NX) distribution model of TBLG is proposed, extending beyond conventional uniform and FG-X schemes to better represent material gradation. Based on nonlinear shell theory and Rayleigh-Ritz method, the governing equations of motion are derived and solved using the harmonic balance method (HBM). The results reveal that the proposed FG-NX distribution significantly enhances structural stiffness, alters resonance characteristics, and induces complex dynamic behaviors including internal resonance, bifurcations, and chaos. These findings not only advance the fundamental understanding of nonlinear vibration in nanocomposite shells but also provide theoretical guidance for the lightweight design and vibration control of critical components in next-generation low-altitude aircraft.

随着低空经济的快速发展，对具有高抗振性的轻型飞机结构的需求日益增长。为了解决这一挑战，本研究研究了扭曲双层石墨烯（TBLG）增强钛基复合材料的非线性振动。针对低空飞机的复杂几何结构，提出了一种精确捕捉结构非线性响应的变曲率壳函数模型。在此基础上，提出了TBLG的非线性泛函梯度（FG-NX）分布模型，该模型超越了传统的均匀和FG-X格式，能够更好地表征材料的梯度。基于非线性壳理论和瑞利-里兹法，推导了运动控制方程，并用谐波平衡法求解。结果表明，FG-NX分布显著提高了结构刚度，改变了结构共振特性，诱发了结构内部共振、分岔和混沌等复杂动力学行为。这些发现不仅促进了对纳米复合材料壳体非线性振动的基本认识，而且为下一代低空飞机关键部件的轻量化设计和振动控制提供了理论指导。

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引用次数: 0

Inverse airfoil shape identification using POD-ANN ROMs: A coarse Mesh approach for computational efficiency 使用POD-ANN ROMs的反翼型形状识别：计算效率的粗网格方法

IF 5.8 1区工程技术 Q1 ENGINEERING, AEROSPACE

Aerospace Science and Technology

Pub Date : 2026-07-01 Epub Date: 2026-02-06 DOI: 10.1016/j.ast.2026.111773

Kapil Aryal , Vivek Nair , Nishith K R Gorla , Sandeep Patil , Brian H. Dennis

This paper compares two non-intrusive reduced-order models for predicting surface-pressure fields in inverse airfoil shape identification with deforming meshes. Proper Orthogonal Decomposition (POD) and feed-forward neural networks map geometric and flow parameters to POD coefficients for rapid field reconstruction. The models are trained on 200 CFD snapshots of steady two-dimensional laminar separated flow (

R e = 1000

) using either coarse or fine meshes to quantify accuracy-cost trade-offs. Results show that the coarse-mesh model achieves accuracy similar to the fine-mesh model while reducing offline training cost by nearly sixfold. Both models exhibit similar robustness in inverse design under noisy targets, and the reduced-order formulation smooths discretization-induced noise in the objective function, improving optimizer convergence.

本文比较了两种非侵入式降阶模型在变形网格反翼型识别中的表面压力场预测。适当的正交分解（POD）和前馈神经网络将几何和流量参数映射到POD系数，以快速重建现场。这些模型是在200个稳定二维层流分离流（Re=1000）的CFD快照上进行训练的，使用粗网格或细网格来量化精度和成本之间的权衡。结果表明，粗网格模型达到了与细网格模型相似的精度，同时将离线训练成本降低了近六倍。两种模型在噪声目标下的反设计中具有相似的鲁棒性，并且降阶公式平滑了目标函数中离散化引起的噪声，提高了优化器的收敛性。

引用次数: 0

Parametric study of lateral jet interaction in diatomic gas non-equilibrium flows using wave-particle method 双原子气体非平衡流动中侧向射流相互作用的波粒法参数化研究

IF 5.8 1区工程技术 Q1 ENGINEERING, AEROSPACE

Aerospace Science and Technology

Pub Date : 2026-07-01 Epub Date: 2026-02-05 DOI: 10.1016/j.ast.2026.111838

Sirui Yang , Chengwen Zhong , Hao Jin , Sha Liu , Congshan Zhuo

A simplified unified wave-particle method is adopted to analyze how the freestream Mach number, jet Mach number, jet temperature, angle of jet, and jet pressure ratio affect the flow field characteristics, aerodynamic forces, and aerothermal effects of the interaction between the jet and the freestream flow over a three-dimensional blunt cone model in rarefied nitrogen flow. The numerical results obtained using the present method are validated against those from the DSMC method. Some of the trends summarized from the parametric study are consistent with the literature. The influence of molecular internal energy of diatomic gases under rarefied gas effects on three-dimensional jet interactions is also presented. Significant differences are observed between three-dimensional jets of diatomic gases and those of monoatomic gases. The findings reveal that: 1) At a constant momentum ratio, the interference zone and barrel shock remain nearly unchanged, while higher freestream Mach numbers reduce the jet’s influence on the flow field; 2) At constant freestream conditions, lower jet Mach numbers increase the jet’s influence on the blunt cone wall, with the jet pressure ratio having a stronger effect than the jet Mach number; 3) When the jet temperature is sufficiently high, comparable control effectiveness can be achieved with a smaller amount of jet gas. 4) Reducing the angle of jet increases the control efficiency, and in the rarefied regime, a smaller angle of jet does not readily lead to flow instabilities. 5) As the jet pressure ratio increases, the jet momentum ratio also rises, thereby intensifying the interaction between the jet and the freestream flow and influencing a larger region of the flow field. This research will provide valuable references for the application of jet-control devices in near-space flight vehicles.

采用简化的统一波粒法分析了在稀薄氮气流动中三维钝锥模型上，自由流马赫数、射流马赫数、射流温度、射流角度和射流压力比对射流与自由流相互作用的流场特性、气动力和气动热效应的影响。用该方法得到的数值结果与DSMC方法的数值结果进行了比较。从参数化研究中总结的一些趋势与文献一致。本文还讨论了稀薄气体作用下双原子气体分子内能对三维射流相互作用的影响。双原子气体的三维射流与单原子气体的三维射流存在显著差异。研究结果表明：1)恒定动量比下，干涉区和管状激波基本保持不变，较高的自由流马赫数减小了射流对流场的影响；2)在恒定自由流条件下，较低的射流马赫数增大了射流对钝锥壁面的影响，且射流压力比的影响强于射流马赫数；3)当射流温度足够高时，用较少的射流气体就能达到相当的控制效果。4)减小射流角度可以提高控制效率，在稀薄工况下，较小的射流角度不容易导致流动不稳定。5)随着射流压力比的增大，射流动量比也随之增大，从而加剧了射流与自由流的相互作用，影响了更大的流场区域。该研究将为近空飞行器中射流控制装置的应用提供有价值的参考。

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引用次数: 0

Flow-separation simulations of continuous and discontinuous ice on swept wings 后掠翼上连续和不连续冰的流动分离模拟

IF 5.8 1区工程技术 Q1 ENGINEERING, AEROSPACE

Aerospace Science and Technology

Pub Date : 2026-07-01 Epub Date: 2026-02-10 DOI: 10.1016/j.ast.2026.111891

Jiawei Chen , Ziyu Zhou , Maochao Xiao , Yufei Zhang

Most previous numerical studies have focused on simplified ice shapes, whereas the present work examines more realistic discontinuous ice shapes. A modified turbulence model incorporating a separating shear-layer correction is employed to assess the flow-separation characteristics and aerodynamic performance. Infinite swept wings were first studied to eliminate root and tip effects and subsequently two distinct separation mechanisms were identified: continuous ice produces a leading-edge separation bubble with a fixed separation point, whereas discontinuous ice triggers a trailing-edge separation. Aerodynamically, discontinuous ice causes severe lift degradation due to the non-lifting nature of the trailing-edge-separation region, whereas continuous ice leads to a larger drag penalty. Further analysis of the finite-span swept-wing configurations reveals pronounced three-dimensional effects. For the continuous-ice wing, a low-pressure separation bubble near the wing root substantially enhances the lift, increasing it by 63.3 % at a 4° angle of attack relative to the infinite-span case. In contrast, for the discontinuous-ice wing, the complex spanwise flow caused by the leading-edge gap jets weaken the tip vortex. The resulting reduction in pressure difference between the upper and lower surfaces suppresses the lift enhancement, yielding only a modest 4.6 % increase in the lift coefficient compared with the infinite-span configuration.

以前的大多数数值研究都集中在简化冰的形状上，而目前的工作研究了更现实的不连续冰的形状。采用一种包含分离剪切层校正的改进湍流模型来评估流动分离特性和气动性能。研究人员首先对无限后掠翼进行了研究，以消除根部和尖端的影响，随后确定了两种不同的分离机制：连续冰产生具有固定分离点的前缘分离泡，而不连续冰引发尾缘分离。在空气动力学上，由于后缘分离区的非升力特性，不连续的冰会导致严重的升力下降，而连续的冰会导致更大的阻力损失。对有限跨度后掠翼构型的进一步分析揭示了明显的三维效应。对于连续冰翼，翼根附近的低压分离泡显著提高了升力，在4°攻角时，升力比无限跨时提高了63.3%。相反，对于非连续冰翼，前缘间隙射流引起的复杂展向流动削弱了叶尖涡。由此产生的上下表面压差的减小抑制了升力的增强，与无限跨配置相比，升力系数仅增加了4.6%。

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引用次数: 0

A General Analysis Framework for Multirotor Thrust-Vectoring Vehicles: From Configuration to Modeling to Data-Driven Approaches 多旋翼推力矢量飞行器的通用分析框架：从配置到建模再到数据驱动方法

IF 5.8 1区工程技术 Q1 ENGINEERING, AEROSPACE

Aerospace Science and Technology

Pub Date : 2026-07-01 Epub Date: 2026-02-03 DOI: 10.1016/j.ast.2026.111816

Yongjie Shu , Qingkai Meng , Shiyi Wei , Mingkai Ding , Yunyi Wang , Xixing Long , Zhifang Ke , Wei Wei

By actively modulating thrust directions, multi-rotor thrust-vector aerial vehicles (TVAVs) overcome the underactuation inherent in conventional coplanar multirotor systems, thereby enabling enhanced maneuverability, full-attitude control, and robust operation in confined or highly disturbed environments. With increasing structural complexity and actuation redundancy, research efforts have progressively evolved from configuration design and aerodynamic analysis toward system-level dynamic modeling and, more recently, data-driven methodologies. This paper presents a comprehensive review of the research evolution in multi-rotor TVAVs, beginning with a summary of configuration and structural analysis methods that explicitly consider thrust-vectoring layouts and aerodynamic effects, and their influence on attainable force spaces, aerodynamic force distribution, and control capabilities. Subsequently, dynamic modeling approaches and investigations into system dynamic properties are reviewed, together with model-based trajectory generation and full-attitude control methods that ensure dynamic feasibility. Furthermore, recent advances in data-driven and reinforcement learning–based methods are systematically discussed, highlighting their potential in addressing strong nonlinearities, model uncertainties, and aggressive maneuvering tasks. Finally, the advantages and limitations of different research paradigms are compared, and the central role of control allocation in thrust-vectoring control architectures is examined, with the aim of providing a structured perspective on the evolution from configuration analysis to dynamic modeling and data-driven methods, and of offering insights toward future unified frameworks that integrate structural constraints, aerodynamic characteristics, model-based design, and data-driven intelligence.

通过主动调节推力方向，多旋翼推力矢量飞行器（tvav）克服了传统共面多旋翼系统固有的欠驱动，从而增强了机动性、全姿态控制和在受限或高扰动环境下的鲁棒性。随着结构复杂性和驱动冗余的增加，研究工作逐渐从配置设计和空气动力学分析发展到系统级动态建模，以及最近的数据驱动方法。本文综述了多旋翼tvav的研究进展，首先总结了明确考虑推力矢量布局和气动效应的构型和结构分析方法，以及它们对可得力空间、气动力分布和控制能力的影响。随后，回顾了动态建模方法和对系统动态特性的研究，以及基于模型的轨迹生成和确保动态可行性的全姿态控制方法。此外，系统地讨论了数据驱动和基于强化学习的方法的最新进展，强调了它们在解决强非线性、模型不确定性和激进机动任务方面的潜力。最后，比较了不同研究范式的优势和局限性，并考察了控制分配在推力矢量控制体系结构中的核心作用，旨在为从配置分析到动态建模和数据驱动方法的演变提供结构化视角，并为整合结构约束、气动特性、基于模型的设计和数据驱动智能的未来统一框架提供见解。

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引用次数: 0