智能变形飞行器结构实现机制与若干关键技术研究
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摘要
智能变形飞行器通过在飞行过程中自主改变气动外形来提高飞行效率,增强机动性,优化不同飞行环境和任务条件下的适应性,被广泛认为是实现未来航空技术新突破的革命性概念和技术。本文围绕智能变形飞行器结构实现机制与关键技术,开展了飞行器智能变形结构设计基本理论与方法、形状记忆合金(SMA)智能材料多物理场耦合特性与表征、基于SMA智能材料的新型高性能致动器设计原理与实验、具有柔顺变形能力的超弹性复合蒙皮结构原理与优化设计方法等一系列研究工作。主要研究内容和成果如下：
1.尝试提出“智能变形飞行器结构力学”基本研究框架,并建立具有时变边界条件的智能伸缩翼悬臂梁结构动力学模型,通过无量纲化处理和Galerkin法给出了该时变非线性四阶双曲型方程的近似解。设计了基于SMA全向偏转致动器和双电机差动斜面全向偏转机构的头部智能变形结构,分别建立了系统动力学模型和非线性控制系统模型,进行了头部智能变形结构的系统仿真和原理样机实验,并通过风洞实验测试了头部偏转变形的气动特性。提出了采用单曲柄双摇杆机构的可变后掠翼结构设计方案,并针对单曲柄双摇杆机构两侧摇杆的同步性问题,建立了单曲柄双摇杆机构的统一模型和同步性能优化问题的数学模型,通过引入摇杆偏差小量假设和极限位置一致性假设,并结合大量系统的机构学实验,给出了单曲柄双摇杆机构同步性能优化解的近似经验公式和设计曲线图。该工作为智能变形飞行器的结构设计分析提供了理论依据和相关技术参考。
2.在深入研究SMA智能材料准静态热／力耦合特性的基础上,探究了SMA智能材料的约束态热／力耦合特性、不完全相变热／力耦合特性和中低应变率动态加载热／力耦合特性。实验发现SMA首次加载约束态与持续加载约束态存在较大特性差异,即马氏体去孪晶化塑性变形和应力诱发马氏体相变塑性变形对马氏体逆相变起止温度点的影响差别较大。实验测得SMA不完全马氏体逆相变过程存在“温度记忆”效应,且重新开始相变的温度与上次热循环中断的温度之间总是约滞后3K。实验测得SMA在中低应变率拉伸条件下存在应变率相关性,准静态拉伸条件下的应力屈服平台消失,且发现塑性段应力-应变曲线斜率与应变率成明显正相关函数关系。上述研究成果对于SMA智能材料在复杂热／力耦合载荷条件下的特性建模和应用开发具有重要的理论意义和应用价值。同时,基于Tanaka系列本构模型和多体动力学理论,建立了SMA智能机电系统的一般动力学模型,通过给出相关设计实例说明了该系统动力学建模方法的便捷性;并给出SMA智能机电系统的复合控制方法,有效的提高了SMA致动单元的动作速率和稳态精度。
3.提出了结合SMA致动器和电机各自优点的“SMA智能材料-电机混合致动器”概念,对其中的并联模式和混联模式进行了系统动力学建模与分析,并研制了SMA-电机混联直线致动器原理样机。针对其中较粗SMA丝致动器电阻小、电热困难的问题,发明了缠绕漆包线同时通电加热的新型复合电热驱动技术,并建立了简化的热力学模型,通过与实验对比表明,该理论模型的计算结果与实验吻合较好,可为采用新型复合电热驱动技术的SMA丝致动器控制模型的建立提供参考。
4.针对智能变形飞行器对具有柔顺大变形性能的蒙皮结构的迫切需求,将柔性机构思想引入多孔固体设计中,提出了“超弹性蜂窝芯复合蒙皮结构”原理及其优化设计方法。基于线弹性理论,给出了对称六边形超弹性蜂窝芯结构的等效模量公式,通过尺寸参数优化和结构工艺优化,设计了具有单轴柔顺大变形特性的类蛇形环构型超弹性蜂窝芯结构和具有负泊松比特性的内凹六边形构型超弹性蜂窝芯结构。给出了类蛇形环构型超弹性蜂窝芯结构和负泊松比超弹性蜂窝芯结构的等效模量公式和优化设计方法,并通过实验测试验证了理论的正确性。
The smart morphing aircraft which can autonomicly change its aerodynamic shape in flight to improve flight efficiency, increase maneuverability and optimize adaptability in different flight environments with variable tasks, is widely considered as an revolutionary concept and technique which could achieve new breakthrough of the future aviation technology. Surrounding the realization mechanism and key technologies of smart morphing aircraft structures, this dissertation carried out a series of studies including the basic design theory and method of smart morphing structures for aicrafts, the multi-physics coupling properties and characterizations of smart materials, the design principles and experimentations of new high-performance actuators based on smart materials, the mechanism and optimum design of superelastic composite skin structures with compliant deformation ability, and so on. The main research contents and contributions are listed as follows:
1. A basic research framework of "Smart Morphing Aircraft Structural Mechanics" was proposed. And we established the smart extension cantilever wing model with time-varying boundary conditions, which is a time-varying nonlinear fourth order hyperbolic equation with approximate solution solved through dimensionless processing and Galerkin method. The smart morphing structures of head section based on SMA all-azimuthal deflectable actuator and two-motors differential bevels all-azimuthal deflectable mechanism were designed. And we built their system dynamic models and nonlinear control system models, made system simulations and prototype experiments of the smart morphing head section structures, and tested its aerodynamic characteristics through wind tunnel experiments. A variable swept wing structural scheme was proposed by using the single-crank and double-rockers mechanism. And aim at the synchronization problem of its both sides of rockers, we established a unified model of the single-crank and double-rockers mechanism and a mathematical optimization model of its synchronization performance. The approximate empirical formulas and design curves of this synchronization performance optimization solution of the single-crank and double-rockers mechanism was obtained by introducing the rockers synchronism hypothesis and symmetry assumptions of utmost position, and combined with a large number of systematic mechanism simulation studies. This work provided some theoretical references and technological suggests for structural design and analysis of smart morphing aircraft.
2. The thermo-mechanical coupling characteristics of shape memory alloy (SMA) smart materials under constraint condition, incomplete phase transformation and dynamic loading within a range of middle and low strain rates were respectively explored, based on the in-depth research of SMA quasi-static thermo-mechanical coupling characteristics. The experiments indicated that the characters were different between the first time constraint loading and the followed persistent loading, that means the impact of starting and ending temperatures of martensitic reverse transformation after martensite detwinning plastic deformation is greatly variant with that after stress-induced martensite transformation plastic deformation. Some experiments also measured the "temperature memory effect" existed in the SMA incomplete martensite reverse transformation process, and found that the restarted phase transition temperature always defered for 3K to the break temperature of last heat cycle. Besides, some experiments tested the strain rate relativity of SMA under tensile loading with the middle and low strain rates, and observed that the stress yield plateau under quasi-static tensile loading disappeared and there was significant positive correlated function between the stress-strain curve slope of plastic deformation segment and strain rates. These research results have important theoretical significance and application value for the properties modeling and application development of SMA smart materials under complex thermo-mechanical coupling loading. Further more, we built the unified dynamics model of SMA smart electromechanical systems based on the Tanaka-serial constitutive models and multi-bodies dynamics theory, and its convenience illustrated by giving some design examples. The SMA action velocity and steady state accuracy were also effectively improved by gives a composite control method for SMA smart electromechanical system.
3. The "SMA smart materials-electric motor hybrid actuator" concept was proposed by combination of respective merits of SMA actuators and motors. And through system dynamics modeling and analysis of the parallel pattern and the series-to-parallel pattern, a SMA-motor hybrid linear actuator prototype was developed. Aim at the electric-thermal heating difficulties of thick SMA wire actuators for its small resistance, a new type of composite electric-thermal heating technology was invented by electrifying both the SMA wire and the enameled wire winded around the SMA wire. And a simplified thermodynamic model which showed a good agreement with experiment results was established to provide a method for control system modeling of SMA wire actuators using this new type of composite electric-thermal heating technology.
4. For the urgent need of flexible skin with large compliant deformation properties of smart morphing aircraft, a "superelastic honeycomb composite skin structure" principle and optimum design was presented by introducing compliant mechanism idea to the design of cellular structures. Based on linear elastic theory, some equivalent elastic modulus formulas of symmetrical hexagonal honeycomb core structure were obtained, and the snake-like ring configuration superelastic honeycomb structures with single-axis large compliant deformation characters and the concave hexagonal configuration honeycomb structures with negative Poisson's ratio characters were designed through size parameters optimization and structural technical optimization. The equivalent modulus formulas and optimal design methods of the snake-like ring configuration superelastic honeycomb structures and the negative Poisson's ratio superelastic honeycomb structure was gained, and its theoretical correctness verified through the experimental tests.
1.尝试提出“智能变形飞行器结构力学”基本研究框架,并建立具有时变边界条件的智能伸缩翼悬臂梁结构动力学模型,通过无量纲化处理和Galerkin法给出了该时变非线性四阶双曲型方程的近似解。设计了基于SMA全向偏转致动器和双电机差动斜面全向偏转机构的头部智能变形结构,分别建立了系统动力学模型和非线性控制系统模型,进行了头部智能变形结构的系统仿真和原理样机实验,并通过风洞实验测试了头部偏转变形的气动特性。提出了采用单曲柄双摇杆机构的可变后掠翼结构设计方案,并针对单曲柄双摇杆机构两侧摇杆的同步性问题,建立了单曲柄双摇杆机构的统一模型和同步性能优化问题的数学模型,通过引入摇杆偏差小量假设和极限位置一致性假设,并结合大量系统的机构学实验,给出了单曲柄双摇杆机构同步性能优化解的近似经验公式和设计曲线图。该工作为智能变形飞行器的结构设计分析提供了理论依据和相关技术参考。
2.在深入研究SMA智能材料准静态热／力耦合特性的基础上,探究了SMA智能材料的约束态热／力耦合特性、不完全相变热／力耦合特性和中低应变率动态加载热／力耦合特性。实验发现SMA首次加载约束态与持续加载约束态存在较大特性差异,即马氏体去孪晶化塑性变形和应力诱发马氏体相变塑性变形对马氏体逆相变起止温度点的影响差别较大。实验测得SMA不完全马氏体逆相变过程存在“温度记忆”效应,且重新开始相变的温度与上次热循环中断的温度之间总是约滞后3K。实验测得SMA在中低应变率拉伸条件下存在应变率相关性,准静态拉伸条件下的应力屈服平台消失,且发现塑性段应力-应变曲线斜率与应变率成明显正相关函数关系。上述研究成果对于SMA智能材料在复杂热／力耦合载荷条件下的特性建模和应用开发具有重要的理论意义和应用价值。同时,基于Tanaka系列本构模型和多体动力学理论,建立了SMA智能机电系统的一般动力学模型,通过给出相关设计实例说明了该系统动力学建模方法的便捷性;并给出SMA智能机电系统的复合控制方法,有效的提高了SMA致动单元的动作速率和稳态精度。
3.提出了结合SMA致动器和电机各自优点的“SMA智能材料-电机混合致动器”概念,对其中的并联模式和混联模式进行了系统动力学建模与分析,并研制了SMA-电机混联直线致动器原理样机。针对其中较粗SMA丝致动器电阻小、电热困难的问题,发明了缠绕漆包线同时通电加热的新型复合电热驱动技术,并建立了简化的热力学模型,通过与实验对比表明,该理论模型的计算结果与实验吻合较好,可为采用新型复合电热驱动技术的SMA丝致动器控制模型的建立提供参考。
4.针对智能变形飞行器对具有柔顺大变形性能的蒙皮结构的迫切需求,将柔性机构思想引入多孔固体设计中,提出了“超弹性蜂窝芯复合蒙皮结构”原理及其优化设计方法。基于线弹性理论,给出了对称六边形超弹性蜂窝芯结构的等效模量公式,通过尺寸参数优化和结构工艺优化,设计了具有单轴柔顺大变形特性的类蛇形环构型超弹性蜂窝芯结构和具有负泊松比特性的内凹六边形构型超弹性蜂窝芯结构。给出了类蛇形环构型超弹性蜂窝芯结构和负泊松比超弹性蜂窝芯结构的等效模量公式和优化设计方法,并通过实验测试验证了理论的正确性。
The smart morphing aircraft which can autonomicly change its aerodynamic shape in flight to improve flight efficiency, increase maneuverability and optimize adaptability in different flight environments with variable tasks, is widely considered as an revolutionary concept and technique which could achieve new breakthrough of the future aviation technology. Surrounding the realization mechanism and key technologies of smart morphing aircraft structures, this dissertation carried out a series of studies including the basic design theory and method of smart morphing structures for aicrafts, the multi-physics coupling properties and characterizations of smart materials, the design principles and experimentations of new high-performance actuators based on smart materials, the mechanism and optimum design of superelastic composite skin structures with compliant deformation ability, and so on. The main research contents and contributions are listed as follows:
1. A basic research framework of "Smart Morphing Aircraft Structural Mechanics" was proposed. And we established the smart extension cantilever wing model with time-varying boundary conditions, which is a time-varying nonlinear fourth order hyperbolic equation with approximate solution solved through dimensionless processing and Galerkin method. The smart morphing structures of head section based on SMA all-azimuthal deflectable actuator and two-motors differential bevels all-azimuthal deflectable mechanism were designed. And we built their system dynamic models and nonlinear control system models, made system simulations and prototype experiments of the smart morphing head section structures, and tested its aerodynamic characteristics through wind tunnel experiments. A variable swept wing structural scheme was proposed by using the single-crank and double-rockers mechanism. And aim at the synchronization problem of its both sides of rockers, we established a unified model of the single-crank and double-rockers mechanism and a mathematical optimization model of its synchronization performance. The approximate empirical formulas and design curves of this synchronization performance optimization solution of the single-crank and double-rockers mechanism was obtained by introducing the rockers synchronism hypothesis and symmetry assumptions of utmost position, and combined with a large number of systematic mechanism simulation studies. This work provided some theoretical references and technological suggests for structural design and analysis of smart morphing aircraft.
2. The thermo-mechanical coupling characteristics of shape memory alloy (SMA) smart materials under constraint condition, incomplete phase transformation and dynamic loading within a range of middle and low strain rates were respectively explored, based on the in-depth research of SMA quasi-static thermo-mechanical coupling characteristics. The experiments indicated that the characters were different between the first time constraint loading and the followed persistent loading, that means the impact of starting and ending temperatures of martensitic reverse transformation after martensite detwinning plastic deformation is greatly variant with that after stress-induced martensite transformation plastic deformation. Some experiments also measured the "temperature memory effect" existed in the SMA incomplete martensite reverse transformation process, and found that the restarted phase transition temperature always defered for 3K to the break temperature of last heat cycle. Besides, some experiments tested the strain rate relativity of SMA under tensile loading with the middle and low strain rates, and observed that the stress yield plateau under quasi-static tensile loading disappeared and there was significant positive correlated function between the stress-strain curve slope of plastic deformation segment and strain rates. These research results have important theoretical significance and application value for the properties modeling and application development of SMA smart materials under complex thermo-mechanical coupling loading. Further more, we built the unified dynamics model of SMA smart electromechanical systems based on the Tanaka-serial constitutive models and multi-bodies dynamics theory, and its convenience illustrated by giving some design examples. The SMA action velocity and steady state accuracy were also effectively improved by gives a composite control method for SMA smart electromechanical system.
3. The "SMA smart materials-electric motor hybrid actuator" concept was proposed by combination of respective merits of SMA actuators and motors. And through system dynamics modeling and analysis of the parallel pattern and the series-to-parallel pattern, a SMA-motor hybrid linear actuator prototype was developed. Aim at the electric-thermal heating difficulties of thick SMA wire actuators for its small resistance, a new type of composite electric-thermal heating technology was invented by electrifying both the SMA wire and the enameled wire winded around the SMA wire. And a simplified thermodynamic model which showed a good agreement with experiment results was established to provide a method for control system modeling of SMA wire actuators using this new type of composite electric-thermal heating technology.
4. For the urgent need of flexible skin with large compliant deformation properties of smart morphing aircraft, a "superelastic honeycomb composite skin structure" principle and optimum design was presented by introducing compliant mechanism idea to the design of cellular structures. Based on linear elastic theory, some equivalent elastic modulus formulas of symmetrical hexagonal honeycomb core structure were obtained, and the snake-like ring configuration superelastic honeycomb structures with single-axis large compliant deformation characters and the concave hexagonal configuration honeycomb structures with negative Poisson's ratio characters were designed through size parameters optimization and structural technical optimization. The equivalent modulus formulas and optimal design methods of the snake-like ring configuration superelastic honeycomb structures and the negative Poisson's ratio superelastic honeycomb structure was gained, and its theoretical correctness verified through the experimental tests.
引文
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