Combinable samara aircraft and controlled separation technique

Samara aircraft is a biology-inspired aircraft based on the samara. To improve the capability of the task execution of the samara aircraft, a combinable samara aircraft is designed. The combinatorial aircraft can be composed of two, three or six individual single samara aircraft through a combination box, and has the abilities of rapid assembly on the ground and controlled separation in the air. Based on the blade-element momentum theory, the aerodynamic model of single aircraft and combinatorial aircraft is established. It is found that the flight efficiency of combinatorial aircraft is 13. 3% higher than that of single aircraft. Then, the flight dynamics model and the outer loop control law for the aircraft are completed. Through six degrees of freedom flight simulation, the typical flight state of the aircraft and the process of controlled separation in the air are studied, which shows that the aircraft has the abilities of controlled flight and stable separation in the air. Finally, in the actual test flight, the controlled separation of the 3-combined aircraft is successfully realized. The design of the combinatorial aircraft and the technique of controlled separation make the aircraft obtain the dual advantages of high flight efficiency and UAV cluster.