Modeling and research of aerodynamic interference mechanisms for aerial-aquatic rotorcraft approaching the water surface

ZHAN Qi; XU Yousong; WANG Xiao

doi:10.7638/kqdlxxb-2024.0137

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Modeling and research of aerodynamic interference mechanisms for aerial-aquatic rotorcraft approaching the water surface

更新时间：2026-05-28

- Modeling and research of aerodynamic interference mechanisms for aerial-aquatic rotorcraft approaching the water surface
- Vol. 43, Issue 12, Pages: 31-41(2025)
- 作者机构：
  
  南京航空航天大学直升机动力学全国重点实验室/直升机研究院,南京,210016
- 作者简介：
- 基金信息：
- DOI：10.7638/kqdlxxb-2024.0137
  CLC： V211.1
- Published：2025
- 稿件说明：
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詹祺, 徐尤松, 王潇. 跨介质飞行器旋翼近水面气动干扰机理建模与研究[J]. 空气动力学学报, 2025, 43(12): 31−41.

ZHAN Qi, XU Yousong, WANG Xiao. Modeling and research of aerodynamic interference mechanisms for aerial-aquatic rotorcraft approaching the water surface[J]. 2025, 43(12): 31-41.
詹祺, 徐尤松, 王潇. 跨介质飞行器旋翼近水面气动干扰机理建模与研究[J]. 空气动力学学报, 2025, 43(12): 31−41. DOI： 10.7638/kqdlxxb-2024.0137

ZHAN Qi, XU Yousong, WANG Xiao. Modeling and research of aerodynamic interference mechanisms for aerial-aquatic rotorcraft approaching the water surface[J]. 2025, 43(12): 31-41. DOI： 10.7638/kqdlxxb-2024.0137.

摘要

与常规旋翼飞行器不同，跨介质旋翼飞行器具备空中和水下运行能力，其在水面跨越过程中易受近水面效应影响。忽视该效应可能导致其系统动力学模型失真，增加控制器设计难度，甚至引发跨介质失败。传统地面效应理论在估算近水面旋翼升力时，存在精度不足的问题。本研究基于势流理论，探讨近水面效应下旋翼的气动特性，建立考虑近水面干扰的旋翼气动模型，并引入拉普拉斯定律进行修正。设置多组不同的旋翼距离水面高度和油门大小，将这些工况下的模型预测结果与试验结果作对比，验证了该模型在预测性能上的优势，并基于均方根误差量化了预测结果。研究结果显示，近水面效应下旋翼升力有所增加，但增幅小于地面效应，且高转速下近水面效应对升力的增益效果有所减弱，具体表现为升力损失比达到5%～44%。本文建立的旋翼气动模型及修正方法无论是在地面效应，还是在近水面效应中，对旋翼升力的预测精度都有较大的提升。对于小/中尺寸旋翼，其平均预测误差降低了60%～80%。

Abstract

Aerial-aquatic rotorcraft have garnered extensive attention due to their ability to operate in the air and underwater. However

their widespread application still faces challenges

the most prominent being the stable transition across water surfaces. Neglecting the near-water-surface effects during the transition process may lead to distortion in its system dynamics model

increase the difficulty of controller design

and even result in failure during the transitions. Most previous studies have relied on the ground effect theory to simulate the transition across water surfaces

but these efforts have shown limited accuracy in predicting rotor lift due to the significant differences between ground and water. In the present paper

we investigated the rotor's aerodynamics in proximity to the water surface using the potential flow theory

based on which a rotor aerodynamic model incorporating the near-water-surface interference is proposed and optimized by Laplace's law. Experiments conducted at various heights above the water surface and with different throttle settings have validated the superior predictive capability of the proposed model. The results indicate that the lift increases as the rotor approaches the water surface

but the increment is less significant than when it approaches the ground. Additionally

the lift increment induced by the near-water-surface effects diminishes at higher rotation speeds

manifesting as lift loss ratio ranging from approximately 5% to 44%. Finally

the aerodynamic model of the rotor and the correction method adopted in this study significantly improve the prediction accuracy of rotor lift under both near-ground and near-water-surface conditions. For small-and medium-sized rotors

the averaged prediction error is reduced by approximately 60%−80%.

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references

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