预置式筒射四旋翼无人机设计及发射控制技术OA

To address the technological gap in the full-process autonomous operation of"pre-deployment-activation-flight"for traditional tube-launched multirotor UAVs in complex water-air cross-media envi-ronments,a pre-deployed tube-launched quadrotor aircraft named Feiying is proposed,aiming to overcome the limitations of traditional systems in response latency and single-stage control and to meet the demands for long-duration pre-deployment,rapid activation,and fast response in complex environments.In this scheme,an innovative carbon-fiber/aluminum-alloy composite load-bearing structure and a torsion-spring-driven folding-wing mechanism are employed,and a hierarchical power-supply system is integrated with a state-machine-based full-process control model.Validation results indicate that Feiying can maintain low-power standby while being rapidly activated into its mission state and can quickly transition to autonomous flight mode during launch,demonstrating a reliable 30 d pre-deployment capability and a rapid response time of 0.1 s.This design achieves highly reliable deployment and high-speed responsiveness for pre-deployed tube-launched quadrotor UAVs and provides a technical foundation and verification support for subsequent engineering applications.