变形飞行器建模及控制方法研究综述

针对变形飞行器的发展现状、气动建模、动力学建模以及控制方法研究进行了综述。首先阐述了变形飞行器的定义及变形需求，再从四个方面梳理了变形飞行器的技术优势。针对不同的机翼变形方式，对飞行器各种变形技术的特点及发展现状进行了详细的分析与总结；将变形飞行器与固定外形飞行器的气动机理进行了对比分析，并对变形飞行器的动力学建模方法进行了梳理，总结了各种方法的特点；结合变形飞行器自身特性分析了飞行控制的特点及难点，并详细阐述了各类变形飞行器的控制研究进展。最后总结分析了变形飞行器的发展趋势：深化基础理论与技术研究，从材料、结构及控制等领域全方面朝着智能化方向发展，最终实现变形飞行器的工程化、自主化、智能化应用。

Review on Modeling and Control Methods of Morphing Vehicle

The development status, aerodynamic modeling, dynamic modeling and control methods of morphing vehicle are reviewed. Firstly, the definition and deformation requirements of morphing vehicle are described, and then the technical advantages are sorted out from four aspects. The characteristics and development status of various vehicle deformation technologies are analyzed and summarized in detail according to different wing deformation modes. The aerodynamic mechanism of the deformed vehicle and the fixed shape vehicle is compared and analyzed, and the dynamics modeling methods of the deformed vehicle are sorted out, and the characteristics of each method are summarized. The characteristics and difficulties of flight control are analyzed in combination with those of deformed vehicle, and the research progress of various kinds of deformed vehicle control is described in detail. Finally, the development trends of morphing vehicle are summarized: deepen basic theory and technology research, developing towards intelligent direction from all aspects of material, structure and control, and finally realizing engineering, autonomous and intelligent application of morphing vehicle.