Integrated Modelling and Static Experiment of a Novel Tandem Ducted Fan Flying Robot

摘要

This paper puts forward a novel tandem ducted fan flying robot which has nice passivity and compact structure aiming at operating in complicated and dangerous environment. The structure of its ducted coaxial twin-rotor with reverse rotation is unconventional and make its aerodynamic characteristics much more complex. To solve the problem, the modelling method of the traditional open rotors with the blade element theory and the momentum theory is extended to the ducted coaxial twin-rotor structure, and the integrated dynamic model of the ducted fan flying robot is established. After the modelling, a static lift experiment has been carried out, and the aerodynamic model of the ducted coaxial twin-rotor structure is modified based on the test results.