The full-wing solar-powered unmanned aerial vehicle (UAV) adopts a large aspect ratio wing, a lightweight structural design, and a differential throttle control scheme to maximize flight endurance. Large structural deformation often occurs when the wing is heavily loaded, which affects its flight stability, trajectory tracking accuracy, and flight performance. The traditional rigid-body flight dynamics cannot accurately describe the actual dynamic behavior when the wing is deformed. To fully consider the coupling effect of the structural deformation and the flight motion, we derive a UAV combo model consisting of a flexible wing and rigid fuselage. In the model, we also include strain formulation (s-beam) for structural modeling, finite-state induced flow theory for aerodynamic modeling, static and dynamic combined experiments for engine modeling, and the rigid-body flight dynamic equation. Besides, a model modification method based on flight data is applied to improve the accuracy of the structural parameters. Simulation results show that the wingtip deformation and motion characteristics of the rigid- and combo-system are quite different: the combo model exhibits a certain lag in comparison with the rigid-body, with the amplitude of the motion parameters reduced by 50%, frequency 15%, system kinetic energy 11.8%, and the elevator control efficiency more than 40%.

全翼太阳能无人飞行器（UAV）采用大长宽比机翼，轻巧的结构设计和差速节气门控制方案，以最大程度地提高飞行续航力。当机翼承受重载荷时，通常会发生较大的结构变形，这会影响其飞行稳定性，轨迹跟踪精度和飞行性能。传统的刚体飞行动力学无法准确描述机翼变形时的实际动力学行为。为了充分考虑结构变形和飞行运动的耦合效应，我们推导了由柔性机翼和刚性机身组成的无人机组合模型。在模型中，我们还包括用于结构建模的应变公式（s-beam），用于空气动力学模型的有限状态诱导流理论，用于发动机模型的静态和动态组合实验，以及刚体飞行动力学方程。此外，基于飞行数据的模型修正方法被应用于提高结构参数的准确性。仿真结果表明，刚体和组合系统的翼尖变形和运动特性存在很大差异：组合模型与刚体相比具有一定的滞后性，运动参数的幅度降低了50％，频率降低了。 15％，系统动能11.8％，电梯控制效率超过40％。