多自由度扑翼微型飞行器设计研究
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摘要
微型飞行器(MAV,Micro Air Vehicle)因在军事和民用领域具有十分广泛的应用前景而成为国内外研究的热点。扑翼飞行比固定翼和旋翼飞行具有其独特的优点,因而,微型扑翼飞行器必将在该研究领域占有重要地位。由于扑翼是新型的飞行器形式,扑翼的研究对航空技术的发展也有重要意义。
本文针对多自由度扑翼微型飞行器的相关设计问题进行了研究。主要研究内容包括:
首先,从昆虫和鸟类翅膀构造出发,分析两类飞行生物的飞行方式、飞行原理和翅膀的扑动模式为扑翼微型飞行器设计提供理论和仿生学依据。
其次,以六杆七副传动机构为基础,归纳出其构造特性及设计约束,利用运动链再生变换原理,给出了新型六杆七副扑动机构。可以为扑翼微型飞行器的设计提供重要的参考。以昆虫翅膀运动机理为基础,提出了一种复合3种运动的多自由度仿生扑翼机构。由于能使翼尖按8字形或香蕉形运动及机翼扭转,使扑翼运动更符合昆虫运动形态。为了实现生物运动轨迹,建立了机构参数的优化模型,其扑动规律能更逼真地模拟昆虫翼的扑动形态。
然后,针对扑翼驱动系统运转时,由于惯性和气动阻力矩的变化将引起系统速度的周期性波动,从而影响驱动效率和气动性能,为此,基于拉格朗日方程,对一种常用的扑翼机构,建立了动力学方程,并求解其真实运动规律。结果表明,扑翼传动机构速度波动的主要影响因素是扑翼;增设飞轮可以使系统运行平稳,进而提高驱动效率、改善气动性能;增设扭簧可使下扑速度提高,上扑速度降低,有利于进一步提高扑动升力。
接着,针对具有上下扑动、前后划动和俯仰运动的扑翼流场进行了数值计算,分析了各种运动参数对复合运动扑翼气动特性的影响。具有多自由度复合运动的扑翼能够产生较大的升力和推力;对升力和推力影响最大的运动参数是上下扑动幅度和扑动频率,其次为前后划动幅度和俯仰运动平均角,影响较小的是俯仰运动的幅度,而增大俯仰运动平均角,可显著增大升力,但会减小推力。
最后,在低速风洞中进行了多自由度扑翼微型飞行器的吹风试验,实测了扑翼机的升力、阻力随扑动频率、迎角和来流速度等参数的变化情况,探索了扑翼微型飞行器空气动力特性。
Because MAV (Micro Air Vehicle) has an extremely widespread application prospect in the military and the civil fields, it becomes a hot research spot at home and abroad. Compared to the fixed-wing and the rotary-wing MAV, flapping-wing MAV has superiority, flapping-wing MAV will certainly occupy important position in this research field and have great significance to develop aerial technology.
This paper studies some related design questions about flapping-wing MAV. the main work is as follows:
Firstly, embarking from the structure of insect and bird wing, this paper analyzed the flight mode, the flight theory and the flapping-wing motion pattern of two kind of flights biology. The basis of theory and bionics are provided for the flapping-wing MAV’s design.
Secondly, the structural properties and the design constraint of flapping-wing mechanism are induced according to the mechanism including six links seven kinematic pairs. Applying kinematic chain transform theory, the new pattern flapping-wing mechanisms are evolved. This provides the important reference for flapping-wing MAV’s design. Based on the wing motion of insects, a multi-DOF(multi-degrees of freedom) mechanism with complex of tree-type motion for the insect-like flapping wing is proposed. Due to the tips of wings can trace a figure-of-eight or banana, and two wings can twist, the wing motion is in much more accord with the pattern of wing motion for insects. A parameter optimization model of the mechanism is established to realize the motion track of biology.
Thirdly, in the motion of flapping-wing system, due to variety of the inertia and aerodynamic moment, the motion of the input link has speed fluctuation, affecting the mechanical efficiency and aerodynamic performance. Based on Lagrange’s equation, the dynamic equation of a single-DOF and Multi-DOF flapping-wing mechanism was established and the actual motion was studied. The major effect factor is the rotational inertia of flapping-wing. The system movement is steady by flywheel. The torsional spring enhances the efficiency of flapping-wing transmission system and the flapping-wing lift.
Fourthly, the flow fielsd of flapping-wing with three kind of compound motions were computated. The flapping-wing with compound motion can produce higher lift and thrust. The influence motion parameters for the lift and thrust of flapping-wing is the plunging amplitude and frequency, next is the sliding amplitude and pitching mean angle, last is the pitching amplitude. The increases of pitching mean angle reduces the thrust.
Using multi-DOF flapping-wing MAV, the load measurement experiment was done in low-speed wind tunnel. The lift and drag were measured with different flapping frequency, attack angle and free-stream velocity. The MAV’s aerodynamic characteristic was studied.
本文针对多自由度扑翼微型飞行器的相关设计问题进行了研究。主要研究内容包括:
首先,从昆虫和鸟类翅膀构造出发,分析两类飞行生物的飞行方式、飞行原理和翅膀的扑动模式为扑翼微型飞行器设计提供理论和仿生学依据。
其次,以六杆七副传动机构为基础,归纳出其构造特性及设计约束,利用运动链再生变换原理,给出了新型六杆七副扑动机构。可以为扑翼微型飞行器的设计提供重要的参考。以昆虫翅膀运动机理为基础,提出了一种复合3种运动的多自由度仿生扑翼机构。由于能使翼尖按8字形或香蕉形运动及机翼扭转,使扑翼运动更符合昆虫运动形态。为了实现生物运动轨迹,建立了机构参数的优化模型,其扑动规律能更逼真地模拟昆虫翼的扑动形态。
然后,针对扑翼驱动系统运转时,由于惯性和气动阻力矩的变化将引起系统速度的周期性波动,从而影响驱动效率和气动性能,为此,基于拉格朗日方程,对一种常用的扑翼机构,建立了动力学方程,并求解其真实运动规律。结果表明,扑翼传动机构速度波动的主要影响因素是扑翼;增设飞轮可以使系统运行平稳,进而提高驱动效率、改善气动性能;增设扭簧可使下扑速度提高,上扑速度降低,有利于进一步提高扑动升力。
接着,针对具有上下扑动、前后划动和俯仰运动的扑翼流场进行了数值计算,分析了各种运动参数对复合运动扑翼气动特性的影响。具有多自由度复合运动的扑翼能够产生较大的升力和推力;对升力和推力影响最大的运动参数是上下扑动幅度和扑动频率,其次为前后划动幅度和俯仰运动平均角,影响较小的是俯仰运动的幅度,而增大俯仰运动平均角,可显著增大升力,但会减小推力。
最后,在低速风洞中进行了多自由度扑翼微型飞行器的吹风试验,实测了扑翼机的升力、阻力随扑动频率、迎角和来流速度等参数的变化情况,探索了扑翼微型飞行器空气动力特性。
Because MAV (Micro Air Vehicle) has an extremely widespread application prospect in the military and the civil fields, it becomes a hot research spot at home and abroad. Compared to the fixed-wing and the rotary-wing MAV, flapping-wing MAV has superiority, flapping-wing MAV will certainly occupy important position in this research field and have great significance to develop aerial technology.
This paper studies some related design questions about flapping-wing MAV. the main work is as follows:
Firstly, embarking from the structure of insect and bird wing, this paper analyzed the flight mode, the flight theory and the flapping-wing motion pattern of two kind of flights biology. The basis of theory and bionics are provided for the flapping-wing MAV’s design.
Secondly, the structural properties and the design constraint of flapping-wing mechanism are induced according to the mechanism including six links seven kinematic pairs. Applying kinematic chain transform theory, the new pattern flapping-wing mechanisms are evolved. This provides the important reference for flapping-wing MAV’s design. Based on the wing motion of insects, a multi-DOF(multi-degrees of freedom) mechanism with complex of tree-type motion for the insect-like flapping wing is proposed. Due to the tips of wings can trace a figure-of-eight or banana, and two wings can twist, the wing motion is in much more accord with the pattern of wing motion for insects. A parameter optimization model of the mechanism is established to realize the motion track of biology.
Thirdly, in the motion of flapping-wing system, due to variety of the inertia and aerodynamic moment, the motion of the input link has speed fluctuation, affecting the mechanical efficiency and aerodynamic performance. Based on Lagrange’s equation, the dynamic equation of a single-DOF and Multi-DOF flapping-wing mechanism was established and the actual motion was studied. The major effect factor is the rotational inertia of flapping-wing. The system movement is steady by flywheel. The torsional spring enhances the efficiency of flapping-wing transmission system and the flapping-wing lift.
Fourthly, the flow fielsd of flapping-wing with three kind of compound motions were computated. The flapping-wing with compound motion can produce higher lift and thrust. The influence motion parameters for the lift and thrust of flapping-wing is the plunging amplitude and frequency, next is the sliding amplitude and pitching mean angle, last is the pitching amplitude. The increases of pitching mean angle reduces the thrust.
Using multi-DOF flapping-wing MAV, the load measurement experiment was done in low-speed wind tunnel. The lift and drag were measured with different flapping frequency, attack angle and free-stream velocity. The MAV’s aerodynamic characteristic was studied.
引文
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