To improve the endurance performance of long-endurance Unmanned Aerial Vehicles (UAVs), a smart morphing method to adjust the UAV and flight mode continuously during flight is proposed. Using this method as a starting point, a smart morphing long-endurance UAV design is conducted and the resulting improvement in the endurance performance studied. Firstly, the initial overall design of the smart morphing long-endurance UAV is carried out, then the morphing form is designed and various control parameters are selected. Secondly, based on multi-agent theory, an architecture for the smart morphing control system is built and the workflow of the smart morphing control system is planned. The morphing decision method is designed in detail based on the particle swarm optimisation algorithm. Finally, a simulation of the smart morphing approach in the climb and cruise stages is carried out to quantitatively verify the improvement in the endurance performance. The simulation results show that the smart morphing method can improve the cruise time by 4.1% with the same fuel consumption.

中文翻译：

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智能变形长航时无人机设计研究

为提高长航时无人机（UAV）的续航能力，提出了一种在飞行过程中不断调整无人机和飞行模式的智能变形方法。以这种方法为出发点，进行了智能变形长航时无人机设计，并研究了航时性能的改进。首先对智能变身长航时无人机进行初步总体设计，然后进行变身形态设计和各种控制参数选择。其次，基于多智能体理论，构建了智能变形控制系统的架构，规划了智能变形控制系统的工作流程。基于粒子群优化算法对变形决策方法进行了详细设计。最后，对爬升和巡航阶段的智能变形方法进行了模拟，以定量验证耐力性能的提高。仿真结果表明，在油耗相同的情况下，智能变形方法可以将巡航时间提高4.1%。