CN109808880A - Flapping wing thrust adjustment mechanism and method - Google Patents
Flapping wing thrust adjustment mechanism and method Download PDFInfo
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- CN109808880A CN109808880A CN201910041172.6A CN201910041172A CN109808880A CN 109808880 A CN109808880 A CN 109808880A CN 201910041172 A CN201910041172 A CN 201910041172A CN 109808880 A CN109808880 A CN 109808880A
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- counter weight
- weight device
- flapping wing
- leading edge
- adjustment mechanism
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Abstract
The disclosure provides a kind of flapping wing thrust adjustment mechanism, comprising: counter weight device is configured in flapping wing leading edge, and described counter weight device one end is connect with flapping wing tip region, and the other end is connect with flapping wing wing root region；And actuator, drive the counter weight device to move along the flapping wing leading edge；The disclosure provides a kind of method for carrying out the adjustment of flapping wing thrust using above-mentioned flapping wing thrust adjustment mechanism simultaneously, the following steps are included: swatting amplitude based on flapping wing and swatting frequency, it adjusts counter weight device by actuator to open up to position flapping wing is up-front, so as to adjust the torsional amplitude and flapping wing thrust of aerofoil.
Description
Technical field
This disclosure relates to a kind of flapping wing thrust adjustment mechanism and method.
Background technique
Current artificial flapping wing aircraft research field is gradually evolved to the imitative bird flapping wing aircraft of relatively large high flight efficiency
With the more small-sized imitative insect flapping wing aircraft for having flexible controlling feature.
Insect flapping wing aircraft is imitated since aerofoil is smaller, it is higher to swat frequency, is easier to by swatting stroke duty ratio up and down
Control, lifting angle or the means such as mean angle of attack control or frequency Differential Control realize that autonomous landing, hovering and space high speed are moved
It is dynamic.However currently imitative insect flapping wing aircraft load-carrying ability is extremely limited, quite a few imitative insect flapping wing aircraft there is still a need for
Using ground power supply and it is tethered at mode and flies.
Imitative bird flapping wing aircraft mostly uses high lift-drag ratio configuration, continues a journey preferable with load-carrying ability.However since it is mostly used
Rigid bar support airfoil structure so that aerofoil inertia is larger, and it is lower to swat frequency, and swat up and down duty ratio, lifting angle/
The control modes such as the angle of attack, frequency be differential also need to consume huge energy, impact pair of the period aerodynamic force to control structure, actuator
Actuator power and the rigidity of structure propose larger challenge, and the control force period caused by low frequency, unsteady characteristic was difficult to overcome.
As a result, current relatively large flapping wing aircraft almost all using be placed in the conventional tail vanes of flapping wing induction flow field regions into
Row control.Since induced velocity is lower in flapping wing wake flow, there are larger non axial component, tail vane effect is far below conventional aircraft.
In order to improve limited steerage in period pulsatile flow field under post stall maneuver state, tail vane must have high rigidity with it is larger
Wing area, and if using relatively high power actuator, and will additionally increase aircraft aft weight.Therefore current large size is flutterred
It is motor-driven that rotor aircraft is still difficult to realize autonomous VTOL, hovering etc., while load-carrying and cruising ability are also far below theoretical value.
The effect of well known insect pterostigma is to improve the limit flutter speed of its high speed gliding, therefore some high speeds
Aircraft imitates insect pterostigma in the design process and adds counterweight in the leading edge of a wing, avoids relatively flexible aerofoil in the high speed such as underriding
There is chatter phenomenon under state.However in addition to this, pterostigma further includes following two points for the effect of flapping wing:
1) as passive torsion adjuster: since insect wing and most pneumatic focuses of flapping wing are in torsional axis rear,
Aerodynamic force can be such that aerofoil reverses during swatting, and flapping wing swats that amplitude is bigger, and frequency is higher, and aerodynamic force is bigger, reverse width
Degree is bigger, and since the position of the pterostigma of insect is in front of aerofoil torsional axis, this will provide for the torsion opposite with aerodynamic force
Trend reduces torsion amplitude；
2) improve and actively swat speed: the twist motion of flapping wing and the geometry pitch of propeller have general character.Propeller exists
There is maximum thrust under stationary state, as flying speed increases, thrust gradually decreases down zero, when speed continues growing, spiral shell
Rotation paddle will generate resistance.Likewise, when flying speed is lower, averagely being pushed away generating positive period when flapping wing torsional amplitude is smaller
Power, i.e., so-called active are swatted；When flapping wing torsional amplitude is larger, when flying speed is higher, negative thrust will be generated, i.e., it is so-called passively to flutter
It beats.Specific torsional amplitude and thrust polar relationship can determine by the relationship of propulsion wave velocity and speed of incoming flow, and using for reference the, 1) put can
Know, pterostigma will improve the critical speed actively swatted to the reduction of torsion amplitude.
Summary of the invention
In order to solve at least one above-mentioned technical problem, the disclosure provides a kind of flapping wing thrust adjustment mechanism and flapping wing thrust
Method of adjustment.The setting of flapping wing thrust adjustment mechanism is inspired in the pterostigma of the classifications insect such as Odonata, Neuroptera, Corrodentia
Small placement differences flapping wing is swatted, promotes efficiency there is a phenomenon where huge change caused by the influence of torsional amplitude,
Mainly for the higher large-scale flapping wing aerofoil active control problem of mobility demand, a kind of position-variable system of pterostigma is proposed
System, i.e. flapping wing leading edge fine motion thrust adjustment mechanism.
According to one aspect of the disclosure, flapping wing thrust adjustment mechanism includes: counter weight device, configures in flapping wing leading edge, matches
Refitting is set one end and is connect with flapping wing tip region, and the other end is connect with flapping wing wing root region；And actuator, drive counter weight device
It is moved along flapping wing leading edge.
According at least one embodiment of the disclosure, when counter weight device is moved along flapping wing leading edge, connect with leading edge girder
Touching；Counter weight device one end is connect with one end on leading edge girder close to tip region, and the other end and configuration are in flapping wing wing root region
Actuator connection.
According at least one embodiment of the disclosure, when counter weight device is moved along flapping wing leading edge, connect with leading edge girder
Touching；Counter weight device one end is connect by the first connector with one end on leading edge girder close to tip region, and counter weight device is another
Actuator of the end by the second connector with configuration in flapping wing wing root region is connect.
According at least one embodiment of the disclosure, the bottom of counter weight device and the upper contact of leading edge girder；Counterweight
Device moves on the upside of leading edge girder.
According at least one embodiment of the disclosure, the top of counter weight device and the contacts-side-down of leading edge girder；Counterweight
Device moves on the downside of leading edge girder.
According at least one embodiment of the disclosure, counter weight device is configured in the inside of leading edge girder, counter weight device
The interior side contacts in outside and leading edge girder；Counter weight device along leading edge girder medial motion.
According at least one embodiment of the disclosure, counter weight device includes sliding part, and sliding part is configured in counter weight device
Outside, the frictional force that generates when sliding part is used to reduce counter weight device movement.
According at least one embodiment of the disclosure, when counter weight device is moved along flapping wing leading edge, not with leading edge girder
Contact.
According at least one embodiment of the disclosure, actuator includes rocker arm, and one end of rocker arm passes through the second connector
It is connect with counter weight device.
According to another aspect of the present disclosure, the method for the adjustment of flapping wing thrust being carried out using above-mentioned flapping wing thrust adjustment mechanism
The following steps are included: swatting amplitude based on flapping wing and swatting frequency, counter weight device is adjusted in the up-front exhibition of flapping wing by actuator
To position, so as to adjust the torsional amplitude and flapping wing thrust of aerofoil.
Detailed description of the invention
Attached drawing shows the illustrative embodiments of the disclosure, and it is bright together for explaining the principles of this disclosure,
Which includes these attached drawings to provide further understanding of the disclosure, and attached drawing is included in the description and constitutes this
Part of specification.
Fig. 1 is the structural schematic diagram according to the flapping wing thrust adjustment mechanism of at least one embodiment of the disclosure.
Specific embodiment
The disclosure is described in further detail with embodiment with reference to the accompanying drawing.It is understood that this place
The specific embodiment of description is only used for explaining related content, rather than the restriction to the disclosure.It also should be noted that being
Convenient for description, part relevant to the disclosure is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the disclosure can
To be combined with each other.The disclosure is described in detail below with reference to the accompanying drawings and in conjunction with embodiment.
It makes discovery from observation, the pterostigma position difference of the variety classes insect with pterostigma characteristic is larger, facilitates in this way
Adapt to the different aerial mission envelope curve of insect.The flapping wing thrust adjustment mechanism of the disclosure has exactly used for reference insect wing twisting and thrust
The characteristics of characteristic is to pterostigma position sensing, takes out its principle, by being placed in the up-front miniature counter weight device of multi-disc flapping wing
It opens up to position and carries out differential adjusting to generate control force.During flapping wing high speed is swatted, the mobile generated wing of counter weight device
Face Tiny Mass changes in distribution can produce considerable control force, but for driving the power of the servo actuator of counter weight device to want
It asks extremely low, therefore there is the benefits of art is good for strength.
In an optional embodiment of the disclosure, flapping wing thrust adjustment mechanism includes counter weight device and actuator.Tool
Body, counter weight device is preferably miniature counter weight device, to prevent from excessively increasing the additional weight of adjustment mechanism, influences aerofoil and swats
Amplitude or frequency.The shape of counter weight device can be cylindrical body, cuboid or any suitable shape being arranged according to actual needs
Shape.Counter weight device can be only fitted to flapping wing leading edge, and one end of counter weight device can be connect with flapping wing tip region, and the other end can be with
It is connect with flapping wing wing root region.Actuator can be servo actuator, for driving counter weight device to move along flapping wing leading edge, i.e.,
Actuator can be used for adjusting counter weight device and open up to position flapping wing is up-front.Actuator can be only fitted to flapping wing wing root region, flutter
Wing tip region or any suitable position for being conducive to drive counter weight device movement.
It, can be with leading edge master when counter weight device is moved along flapping wing leading edge in an optional embodiment of the disclosure
Beam contact, i.e., move along leading edge girder.When counter weight device is moved along leading edge girder, one end of counter weight device can with it is preceding
Close to one end connection in wing tip or wing root region on edge girder, the other end can be with configuration in flapping wing wing root or the work of tip region
Dynamic device connection.Preferably, one end of counter weight device connect on flapping wing leading edge girder close to one end of tip region, the other end and
The actuator configured in flapping wing wing root region connects.
In an optional embodiment of the disclosure, counter weight device can also pass through connector and leading edge girder and actuation
Device connection.Preferably, when counter weight device is moved along leading edge girder, one end of counter weight device can by the first connector,
Such as spring, it is connect with one end on flapping wing leading edge girder close to tip region；The counter weight device other end can connect by second
Fitting, such as drag-line, the actuator with configuration in flapping wing wing root region are connect.
Preferably, actuator includes rocker arm, and one end of rocker arm configures in actuator, and the other end is by drag-line and with refitting
Set connection.
In an optional embodiment of the disclosure, when counter weight device is moved along leading edge girder, can only with it is preceding
Only bottom is contacted with leading edge girder for the upper contact of edge girder, i.e. counter weight device, and is moved on the upside of leading edge girder.
In an optional embodiment of the disclosure, when counter weight device is moved along leading edge girder, can only with it is preceding
Only top is contacted with leading edge girder for the contacts-side-down of edge girder, i.e. counter weight device, and is moved on the downside of leading edge girder.
In an optional embodiment of the disclosure, counter weight device can also be configured in the inside of leading edge girder, also
It is to say, leading edge girder can be tubular structure at this time, and the interior side contacts in the outside of counter weight device and the tubular structure.Certainly,
Can also only a part on the outside of counter weight device and the tubular structure interior side contacts.When counter weight device is moved along leading edge girder
When, the outside of counter weight device along leading edge girder medial motion.
In an optional embodiment of the disclosure, counter weight device can also include sliding part, such as sliding sheath.Sliding sheath can
To configure in the outside of counter weight device, counter weight device is wrapped up.Sliding sheath can be used to reduce counter weight device and move in flapping wing leading edge
When, such as the frictional force that while moving along leading edge girder generates.
Specifically, when counter weight device moves on the upside of leading edge girder, the bottom of counter weight device will generate one and rub
Power is wiped, and sliding sheath is set on the outside of counter weight device, it will help reduces the frictional force, and can be further improved counter weight device shifting
The sensitivity that aerofoil Mass Distribution changes during dynamic.Likewise, matching when counter weight device moves on the downside of leading edge girder
A frictional force will be generated by resetting the top set, and sliding sheath be arranged on the outside of counter weight device, it will help reduce the frictional force.When matching
Refitting is set when moving inside leading edge girder, will be generated a frictional force on the outside of counter weight device and therefore be set on the outside of counter weight device
Sliding sheath is set, can help to reduce the frictional force, and can be further improved aerofoil Mass Distribution in counter weight device moving process and become
The sensitivity of change.
Optionally, sliding part can according to need the bottom for being provided only on counter weight device, top or entire outside.For example,
When counter weight device moves on the upside of leading edge girder, only the bottom of counter weight device generates frictional force, then can only exist at this time
Sliding sheath is arranged in the bottom of counter weight device.
In an optional embodiment of the disclosure, when counter weight device is moved along flapping wing leading edge, can not also with it is preceding
The contact of edge girder.Sliding part is configured on the outside or is not configured at this point, counter weight device can choose.With driving counter weight device movement
Actuator still can be only fitted to flapping wing wing root region, tip region or any suitable position for being conducive to drive counter weight device movement
It sets.And counter weight device still can choose suitable connector, one end is connect with flapping wing tip region, the other end and flapping wing wing root area
Domain connection.For example, one end of counter weight device is connect by connector with one end on leading edge girder close to tip region, the other end
Actuator by connector with configuration in wing root region is connect.It is, of course, also possible to select other suitable according to actual needs
Configuration mode fixed weight device makes it along flapping wing leading edge smooth motion.
It, can be using above-mentioned flapping wing thrust adjustment mechanism to flapping wing thrust in an optional embodiment of the disclosure
It is controlled.
Specifically, as shown in Figure 1, flapping wing thrust adjustment mechanism to be mounted on to the leading edge of flapping wing.In order to show mechanical details,
What the diameter of leading edge girder was exaggerated increases.Airfoil structure is mainly made of leading edge girder, the back rest and flexible support structure.It flutters
The servo actuator of wing thrust adjustment mechanism is mounted on wing root region；Counter weight device is mounted on the inside of leading edge girder, to reduce
Frictional force when mobile, is also configured with sliding sheath on the outside of counter weight device；One end of counter weight device is by counterweight reset spring with before
Edge girder is connected close to one end of tip region, and the other end of counter weight device is connected by the rocker arm of drag-line and servo actuator.
When practical operation, the leading edge per a piece of flapping wing of aircraft can install flapping wing thrust adjustment mechanism, by right
The exhibition for being placed in the up-front counter weight device of multi-disc flapping wing carries out differential adjusting to position to generate control force.Usual artificial flapping wing is by rigid
Higher girder, the flexible back bone for connecting girder and covering composition are spent, drives the generation of high rigidity girder to swat fortune by swatting mechanism
It is dynamic.Since the pneumatic focus of aerofoil is located at girder rear, aerodynamic force during swatting reverses aerofoil generation around girder
Torque.The flexible back bone of connection girder plays the role of supporting covering.When by torsional moment, flexible back bone and covering are generated
Flexible deformation and around girder reverse.If being configured with flapping wing thrust adjustment mechanism in flapping wing leading edge to match when flapping wing is swatted
It resets and reverses the trend with aerodynamic force caused by the inertia force set on the contrary, torsional amplitude can be weakened to a certain extent.It is easy
The imagination corresponding to different exhibitions to position, swats amplitude difference, corresponding is used when counter weight device is when flapping wing leading edge is mobile
Property power also can difference, correspondingly, the influence to aerofoil torsional amplitude also can be different.Such as closer to wing tip or wing root, by
The shift reciprocately amplitude of counter weight device caused by swatting is bigger, and inertia force is also bigger, then the weakening to aerofoil torsional effect
Also more significant.Therefore, when carrying out the adjustment of flapping wing thrust using flapping wing thrust adjustment mechanism, amplitude can be swatted based on flapping wing
With swat frequency, counter weight device is adjusted by servo actuator and is opened up to position flapping wing is up-front, further such that the torsion of aerofoil
Turn amplitude and flapping wing thrust is controlled.
It should be noted that usually there is a certain torsional amplitude makes flapping wing thrust reach maximum under a certain advance ratio
Point.And torsional amplitude can make thrust monotonic decreasing towards greater or lesser direction change.Analyzing micro- counterweight (counterweight accordingly
Device) to aerofoil torsion effect on the basis of, it is easy design make flapping wing thrust be monotonically changed micro- counterweight control strategy.Therefore,
Any flapping wing thrust control method carried out based on micro- counterweight to the change of the aerofoil characteristics of motion belongs to the protection of the disclosure
Range.
The flapping wing thrust adjustment mechanism structure of the disclosure is simple, easy for installation, significant effect, swats process in flapping wing high speed
In, by counter weight device it is mobile caused by aerofoil Tiny Mass changes in distribution be that can lead to flapping wing to swat, reverse regular change
Become, and then generates considerable control force.Flapping wing thrust adjustment mechanism and method of adjustment, it is thus also avoided that traditional change frequency is met
Angle/lifting angle, duty the ratio method problem high to actuator power demand, and the weight of entire adjustment mechanism is minimum, is applicable in
In all kinds of flapping wing structures, it is expected to solve the problems, such as the high maneuver autopilot of large-scale flapping wing aircraft.
It will be understood by those of skill in the art that above embodiment is used for the purpose of clearly demonstrating the disclosure, and simultaneously
Non- be defined to the scope of the present disclosure.For those skilled in the art, may be used also on the basis of disclosed above
To make other variations or modification, and these variations or modification are still in the scope of the present disclosure.
Claims (10)
1. a kind of flapping wing thrust adjustment mechanism characterized by comprising
Counter weight device is configured in flapping wing leading edge, and described counter weight device one end is connect with flapping wing tip region, the other end and the flapping wing wing
The connection of root zone domain；And
Actuator drives the counter weight device to move along the flapping wing leading edge.
2. adjustment mechanism according to claim 1, which is characterized in that
When the counter weight device is moved along the flapping wing leading edge, contacted with leading edge girder；
Described counter weight device one end is connect with one end on the leading edge girder close to tip region, and the other end and configuration are in flapping wing
The actuator in wing root region connects.
3. adjustment mechanism according to claim 1, which is characterized in that
When the counter weight device is moved along the flapping wing leading edge, contacted with leading edge girder；
Described counter weight device one end is connect by the first connector with one end on the leading edge girder close to tip region, described
The actuator of the counter weight device other end by the second connector with configuration in flapping wing wing root region is connect.
4. adjustment mechanism according to claim 2 or 3, which is characterized in that
The upper contact of the bottom of the counter weight device and the leading edge girder；
The counter weight device moves on the upside of the leading edge girder.
5. adjustment mechanism according to claim 2 or 3, which is characterized in that
The contacts-side-down at the top of the counter weight device and the leading edge girder；
The counter weight device moves on the downside of the leading edge girder.
6. adjustment mechanism according to claim 2 or 3, which is characterized in that
In the inside of the leading edge girder, the outside of the counter weight device is interior with the leading edge girder for the counter weight device configuration
Side contacts；
The counter weight device along the leading edge girder medial motion.
7. adjustment mechanism according to claim 2 or 3, which is characterized in that
The counter weight device includes sliding part, and in the outside of the counter weight device, the sliding part is used for for the sliding part configuration
Reduce the frictional force generated when counter weight device movement.
8. adjustment mechanism according to claim 1, which is characterized in that
When the counter weight device is moved along the flapping wing leading edge, do not contacted with the leading edge girder.
9. adjustment mechanism according to any one of claim 1-3, which is characterized in that
The actuator includes rocker arm, and one end of the rocker arm is connect by second connector with the counter weight device.
10. a kind of flapping wing thrust adjustment method, using flapping wing thrust adjustment mechanism as claimed in any one of claims 1-9 wherein,
Characterized by comprising the following steps:
It is swatted based on flapping wing and amplitude and swats frequency, counter weight device is adjusted by actuator and is opened up to position flapping wing is up-front, from
And adjust the torsional amplitude and flapping wing thrust of aerofoil.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910041172.6A CN109808880A (en) | 2019-01-16 | 2019-01-16 | Flapping wing thrust adjustment mechanism and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910041172.6A CN109808880A (en) | 2019-01-16 | 2019-01-16 | Flapping wing thrust adjustment mechanism and method |
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| CN201910041172.6A Pending CN109808880A (en) | 2019-01-16 | 2019-01-16 | Flapping wing thrust adjustment mechanism and method |
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Application publication date: 20190528 |