Efficient UAV performance and a perfect recovery system are required to achieve the safe and reliable shipborne recovery of fixed-wing UAVs, which is essential for expanding their marine applications. In this study, taking an automatic horizontal-rope shipborne recovery (aHRSR) system as the recovery platform, a joint optimisation method of fixed-wing UAVs combined aerodynamic configuration and control optimisation was investigated. First, the distribution of a dynamic system was adopted to attain aerodynamic optimisation. A wing-mounted double-engine pull (WMDE-PULL) configuration was developed based on the slipstream effect. Compared with the tail-mounted single-engine push (TMSE-PUSH) configuration, the WMDE-PULL configuration could significantly enhance the lift and low-speed characteristics and eliminate the disturbances from the reaction torque of the single-engine propeller. This aerodynamic optimisation method evidently improved the control accuracy of the controller. To offset the comprehensive disturbance under complex conditions at the sea, including the internal disturbance of the additional torque and external disturbance of the wake, the acceleration feedback method was implemented for the inner loop attitude of the original controller. The optimised controller had good robustness and stability. Several experiments were conducted for the recovery of the optimised UAV on the aHRSR system, and a recovery success rate of 100% was achieved. The results show that the joint optimisation method of fixed-wing UAVs is valid and practical, and the recovery scheme of an optimised fixed-wing UAV on an aHRSR system provides practical reference for shipborne recovery.

实现固定翼无人机安全可靠的船载回收，需要高效的无人机性能和完善的回收系统，这对于扩大其海上应用至关重要。本研究以舰载自动水平绳索回收（aHRSR）系统为回收平台，研究了一种固定翼无人机气动构型与控制优化相结合的联合优化方法。首先，采用动态系统的分布来实现空气动力学优化。基于滑流效应开发了机翼双引擎牵引（WMDE-PULL）配置。与尾置单引擎推进（TMSE-PUSH）配置相比，WMDE-PULL配置可显着增强升力和低速特性，消除单发螺旋桨反力矩的干扰。这种气动优化方法明显提高了控制器的控制精度。为了抵消海上复杂条件下的综合扰动，包括附加力矩的内部扰动和尾流的外部扰动，对原控制器的内环姿态实施加速度反馈方法。优化后的控制器具有良好的鲁棒性和稳定性。优化后的无人机在aHRSR系统上进行了多次回收实验，回收成功率达到100%。结果表明固定翼无人机联合优化方法有效、实用，