引用本文:赵佐权,陈本美.中大飞板:一种高速单杆无人水翼船[J].控制理论与应用,2025,42(11):2188~2195.[点击复制]
ZHAO Zuo-quan,CHEN Ben-mei.Sea-U-Foil: A high-speed single-strut unmanned hydrofoil vehicle[J].Control Theory & Applications,2025,42(11):2188~2195.[点击复制]
中大飞板:一种高速单杆无人水翼船
Sea-U-Foil: A high-speed single-strut unmanned hydrofoil vehicle
摘要点击 2703  全文点击 153  投稿时间：2025-02-26  修订日期：2025-09-11
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DOI编号  10.7641/CTA.2025.50076
  2025,42(11):2188-2195
中文关键词  中大飞板  无人水面船  水翼船
英文关键词  hydrofoil vehicle  unmanned surface vehicle  Sea-U-Foil
基金项目  香港特别行政区政府的InnoHK通过香港物流机器人研究中心项目,香港特别行政区研究资助委员会项目(14217922,14209623,14209424)部分 资助.
作者单位E-mail
赵佐权* 香港中文大学机械与自动化系 zqzhao@mae.cuhk.edu.hk 
陈本美 香港中文大学机械与自动化系  
中文摘要
      针对目前自主水中载具存在的运行速度慢,工作范围有限问题,本文设计了一款新型高速单杆无人水翼船: 中大飞板.与传统自主水中载具不同,中大飞板具有3种运动模式,使其可以适用于不同的海洋任务.本文针对中大 飞板的水翼模式展开深入研究.中大飞板的水翼模式借鉴了固定翼无人机的设计理念,将水翼作为机体的重要组成 部分. 当水翼在水中运动时,会产生向上的升力,这一升力能够把船体抬离水面,减少船体与水的接触面积,进而降 低船体前进时所受到的阻力.由于阻力大幅降低,中大飞板得以实现更快的前进速度,更低的能量消耗以及更广阔 的工作范围.同时,依据伯努利原理,水翼的升力与速度的平方成正比,因此中大飞板更快的前进速度使中大飞板具 备更强的负载能力.本文详细地介绍了中大飞板的工作原理,设计过程以及控制方法,并通过实验验证了设计方法 的有效性,以及中大飞板相较于传统单体船和双体船的优越性能.中大飞板的更多详情可以通过以下链接查看: https://b23.tv/UHw7KOp.
英文摘要
      To address the current issues of slow operating speeds and limited working ranges of autonomous marine vehicles, this paper proposes a new high-speed single-strut unmanned hydrofoil vessel: Sea-U-Foil. Unlike traditional autonomous marine vehicles, Sea-U-Foil features three motion modes, making it suitable for various marine tasks. This paper focuses on an in-depth study of the foilborne mode. The foilborne mode of Sea-U-Foil draws on the design principles of fixed-wing aircraft, incorporating the hydrofoil as its critical component. When the hydrofoil moves forward in water, it generates upward lift, which elevates the hull above the water surface, thereby reducing the contact area between the hull and the water. The decrease in contact area further reduces the drag experienced by Sea-U-Foil. As a result of the significant reduction in drag, Sea-U-Foil achieves faster operating speeds, lower energy consumption, and a broader working range. Additionally, according to Bernoulli’s principle, the lift generated by the hydrofoil is proportional to the square of the speed. As speed increases, lift also increases, which enhances the payload capacity of Sea-U-Foil. In this paper, a detailed introduction is presented to the working principle, design, and control of Sea-U-Foil, and validates the effectiveness of our design through experiments, demonstrating the superior performance of Sea-U-Foil compared to traditional monohull and catamaran vessels. A related video can be found here: https://b23.tv/UHw7KOp.