CN103482065A - Flapping-wing micro aerial vehicle based on static-electricity self-excitation driving principle - Google Patents
Flapping-wing micro aerial vehicle based on static-electricity self-excitation driving principle Download PDFInfo
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Abstract
The invention relates to a flapping-wing micro aerial vehicle based on the static-electricity self-excitation driving principle. The flapping-wing micro aerial vehicle comprises a chest framework, a row beam structure, wings, electrodes, an aerial vehicle body, a power supply and a support circuit, as well as a foot bracket, wherein the chest framework is used for supporting the row beam structure and the electrode, the row beam structure is formed by a plurality of conductive micro beams arranged side by side, two ends of the row beam structure are bonded with the wings respectively to form a flapping-wing structure, the flapping-wing structure is in a double-end simply-support state in the chest framework, is positioned between the two electrodes and is in parallel to the electrodes, the aerial vehicle body is connected below the chest framework, a battery and a support circuit are integrated on the aerial vehicle body, the power supply and the support circuit supply adjustable direct current voltage for the two electrodes, the foot bracket is connected below the aerial vehicle body and is used as an antenna and a balancing device of the aerial vehicle. The flapping-wing micro aerial vehicle has simple structure, light weight and high energy conversion efficiency and is easy to microminiaturize.
Description
Technical field
What the present invention relates to is the device that a kind of field of micro electromechanical technology combines with the minute vehicle technical field, specifically a kind of self-excited vibration principle based on structure in electrostatic field, adopt the micro flapping wing air vehicle of direct voltage drive.
Background technology
Adopt the minute vehicle of flapping flight mode, higher than the pneumatic efficiency of fixed-wing and rotor, manoevreability is good, and the function such as more easily realize taking off fast, accelerate, hovering is adapted at executing the task in jungle, street, the small space such as indoor.Which kind of drive system the important airmarks such as the manoevreability of flapping wing aircraft, cruise duration adopt closely related with it, therefore, to exploration, the research and development of flapping wing aircraft drive system, are the hot issues that academia, industry member are paid close attention to always.
The drive system of flapping wing aircraft generally is comprised of actuator, transmission device, wing three parts.Along with the progress of micro-nano process technology, the volume of aircraft progressively dwindles, and the mode of its flapping wing motion more approaches insect, and actuator is selected also changing.The aircraft that volume is bigger than normal, still can adopt technology maturation, the motor that rotatablely moves of output as actuator, then will rotatablely move and be converted to double vibrations with certain track (such as the application number Chinese invention patent that is 200810008165.8) by transmission device.Yet, along with reducing of volume, the performance of motor and the efficiency of transmission device sharply descend because of scale effect.At present, the flapping wing aircraft (span is less than 5cm) of the insect size magnitude linear pattern microdrives that adopt based on novel driving principle more, as piezoelectric ceramic actuator, Electromagnetic Drive etc. (such as application number be 201010289254.1 and the application number Chinese invention patent that is 201310167268.X).
The flapping wing aircraft of insect size magnitude, the narrow space such as be mainly used in indoor, cave and execute the task, and need to complete various maneuvers, and the portability limited energy, and this just requires microdrive should have larger horsepower output and energy conversion efficiency.At present, the micro-driving principle of linear pattern mainly comprises heat driving, marmem (SMA) driving, static driving, artificial muscle driving, Piezoelectric Ceramic etc.Wherein, the actuating speed that heat drives and SMA drives is very slow, and out of reach insect tens far away is the frequency of fluttering its wings up and down of hundreds of hertz even, and energy conversion efficiency is extremely low, is not suitable for use in flapping wing aircraft; Quiet electrically operated drive displacement and propulsive effort are all very little, and the corollary system weight that artificial muscle drives is very large, causes the lift of the two generation all far can not overcome the weight of self structure, is only applicable to the less demanding crawling machinery of thrust-weight ratio; The overall performance of Piezoelectric Ceramic is comparatively balanced, is the most popular micro-flapping wing driving principle of present stage.2013, " Controlled Flight of a Biologically Inspired; Insect-Scale Robot " that the people such as Wood of Ha Fu university are published on the SCIENCE magazine reported a kind of micro flapping wing air vehicle of the insect size magnitude based on Piezoelectric Driving, and realized first controllable flight.The deficiency of this aircraft is, its high-voltage ac power and control circuit due to complex structure and weight large, can't be integrated on fuselage and can only be external, thereby cause the required energy of flapping flight and control signal to conduct on aircraft by fine copper wire, only can realize the messenger wire flight as kite.
According to current engineering factor, the free flight when length that make the above-mentioned flapping wing aircraft realization based on the Piezoelectric Driving principle carry power supply and control circuit is navigated, difficulty is very large, and mainly contain following 2 reasons: the energy conversion efficiency of (1) piezoceramic is low.The related energy conversion process of flapping wing aircraft mainly contains three phases, comprising: the electric energy of storage
the mechanical energy of actuator; The mechanical energy of actuator
the mechanical energy of wing; The mechanical energy of wing
the mechanical energy of aircraft.The energy conversion efficiency in each stage depends on successively: the energy conversion efficiency of actuator; The driving efficiency of transmission device; The pneumatic efficiency of flapping wing motion.And, due to the principle of work restriction, the electromechanical energy conversion efficiency of piezoelectric ceramic actuator only has 10%-30%, causes the energy conversion efficiency of aircraft integral body very low.(2) complex structure.Piezoceramic, also only can the very little straight-line motion (the hundreds of micron is only arranged usually) of output amplitude under the excitation of the alternating-current voltage/AC voltage of upper hectovolt.And to produce high lift, and need to carry out significantly complicated flapping wing motion, be embodied in the tangential torsion of wing when direction is fluttered in conversion, and the 8-shaped of wing tip or elliptic motion trace.Therefore, must be equipped with extraly and exchange generation and amplifier, displacement pickup, reactive circuit and displacement structure for amplifying (normally four-bar linkage), so that whole flapping wing structure " be forced to resonance " state in amplitude all the time, and realize the path of motion of wing complexity.Yet the corollary system of above-mentioned complexity, except weight is very large, also will consume more energy, causes the thrust-weight ratio of whole drive system and energy conversion efficiency further to reduce.
Summary of the invention
The technical matters that the present invention solves: overcome the deficiencies in the prior art, a kind of micro flapping wing air vehicle based on static self-excitation driving principle is provided, it adopts electrostatic force as propulsive effort, so the electromechanical energy conversion efficiency is very high; And simple in structure, be easy to further micro-miniaturisation.
Technical solution of the present invention: the micro flapping wing air vehicle based on static self-excitation driving principle of the present invention specifically comprises: thoracic cavity skeleton, stringer structure, wing, electrode, fuselage, power supply and support circuit, foot support.Wherein, the thoracic cavity skeleton includes two support beams with holes and two electrode suppors, is respectively used to support stringer structure and electrode; The stringer structure is connected to form side by side by the micro-beam of a plurality of conductions, forms the flapping wing structure after wing of each sticky note of its two ends; The two ends of flapping wing structure are stretched into respectively in the hole of described two support beams with holes, are the both-end simply-supported state; Two electrodes are installed on respectively on described two electrode suppors, and two electrodes are clipped in the middle the flapping wing structure, and with flapping wing structure keeping parallelism; Fuselage is positioned at skeleton below, thoracic cavity, is integrated with battery and support circuit on it, and the mouth of support circuit is connected with described two electrodes, for two electrodes provide adjustable dc voltage; Foot support is positioned at the fuselage below, plays equilibrium activity, and can be used as the antenna of aircraft.
After vdc is applied on two electrodes, stable electrostatic field can result between two electrodes, now the stringer structure of described both-end freely-supported can produce self-excited vibration in electrostatic field, drives wing to realize that complicated three-dimensional flutters, with the flapping wing kinematic similarity of occurring in nature insect simultaneously.
The material for preparing of described thoracic cavity skeleton, fuselage, foot support can be various non-conductive light materials, as plastics, cork wood etc.; The material for preparing of described stringer structure can be various conductive material, as silicon, gold, aluminium, copper, marmem etc.; Described wing can be made through laser beam cutting by the membraneous material that comprises mylar and Kapton, or is obtained by the MEMS processing technology.Described electrode can be made through laser beam cutting by metallized film, or obtains by the MEMS processing technology; Described battery and support circuit pass through the integrated circuit technique micro-miniaturisation, and are integrated on fuselage.
Due to driving principle and structure very simple, the span of the present invention is less than 5cm usually, after MEMS technique micro-miniaturisation, the span of the present invention can be less than even 1mm of 1cm.
Through theoretical calculation and test research, when described stringer structure, by 2-5 the micro-beam of cylindrical conductive, connected and composed side by side and when conducting electricity the length-diameter ratio (length-to-diameter) of micro-beam to be 400～800 left and right, electrode separation being 0.05～0.15 with the ratio of the micro-beam length of conduction, the stringer structure can be in the situation that do not exchange the driving signal, only rely on vdc, retroactive effect adjusting energy input by the displacement state, remain near the vibrational state of first natural frequency, and the drive wing there is significantly fluttering of track.From the structural dynamics angle, the chatter phenomena of described stringer structure belongs to " self-excited vibration " in a kind of electrostatic field.
The present invention's advantage compared with prior art is:
(1) energy conversion efficiency is high.As previously mentioned, the energy conversion efficiency of micro flapping wing air vehicle depends on the electromechanical energy conversion efficiency of actuator, the driving efficiency of transmission device, the pneumatic efficiency of flapping wing motion.For the present invention, at first, its actuator is to utilize the electrostatic force of electromechanical energy conversion efficiency very high (90% left and right) as propulsive effort; Secondly, wing of the present invention, directly by driver drives, does not have complicated transmission device, so driving efficiency is equally very high; In addition, flapping wing structure of the present invention can realize that the complex three-dimensional of amplitude flutters, and similar to the Live Flying insect, pneumatic efficiency is also higher.
(2) simple in structure.Micro flapping wing air vehicle based on structure static self-excitation driving principle provided by the invention, wherein the self-excited vibration frequency of stringer structure in electrostatic field remains near first natural frequency, and can automatically follow the variation of first natural frequency and change, without any need for complicated interchange generation and frequency following device.On the other hand, the self-excited vibration of stringer structure can directly drive flapping wing to carry out significantly flapping wing motion, and does not need extra displacement amplification and mapping device.Simple driving principle and structure that the present invention proposes, when reducing actuator weight, improving thrust-weight ratio, also be conducive to the further micro-miniaturisation of aircraft.In theory, utilize existing MEMS processing technology, the span of the present invention can be less than even 1mm of 1cm.
The accompanying drawing explanation
Fig. 1 is integral structure axonometric drawing of the present invention;
Fig. 2 is thoracic cavity of the present invention skeleton axonometric drawing;
Fig. 3 is the front elevation (analysing and observe) that thoracic cavity of the present invention skeleton, stringer structure and electrode integral coordinate;
Fig. 4 is the axonometric drawing that thoracic cavity of the present invention skeleton and stringer structure partial coordinate;
The vibration processes (overlooking) that Fig. 5 is the present invention's stringer structure while working and the process of flapping (right side is looked) of wing.
The specific embodiment
As shown in Figure 1, the invention provides a kind of examples of implementation of the micro flapping wing air vehicle based on static self-excitation driving principle, comprising: thoracic cavity skeleton 1, stringer structure 2, wing 3, electrode 4, fuselage 5, support circuit 6, battery 7, foot support 8.Wherein, stringer structure 2 and wing 3 form the flapping wing structure, and thoracic cavity skeleton 1 is for stringer structure 2 and electrode 4 provide support, and lower end is connected with fuselage 5.Be integrated with battery 7 and support circuit 6 on fuselage 5, the mouth of support circuit 6 provides adjustable dc voltage for two electrodes 4.Fuselage 5 lower end connecting pin supports 8, foot support 8 can be as the antenna of aircraft and balancing device.
As shown in Figure 2, thoracic cavity skeleton 1 is insulator, to prevent electric pole short circuit, its principal character comprises two support beams 9 with holes and two pairs of electrode suppors 10, and support beam 9 with holes is positioned at electrode suppor 10 middles, the two keeping parallelism, wherein, two support beams 9 with holes, by stringer structure double end freely-supported, limit the displacement of its level and vertical direction at the two ends of stringer structure, but do not limit its bending and torsion motion.Two holes on support beam 9 with holes are as the strong point of stringer structure 2 and the transmission point of lift.Electrode suppor 10 allows electrode around its axis rotation, to realize different electrode angle and spacing, is used for changing the state of flapping wing motion.
As shown in Figure 3 and Figure 4, stringer structure 2 comprises the four micro-Liangping of long conduction row arrangements, and connects and typing with two micro-beams 11 of short-range missiles electricity, and the sticky note in two ends of stringer structure 2 has wing 3.Wherein, four micro-beam sections of long conduction can be arbitrary shape (because friction and the collision loss of round section are less, this example are got circle), and this example of length 30-50mm(is got 40mm), this example of diameter 30-60 μ m(is got 60 μ m), this example of spacing 0.5-1mm(is got 0.7mm).But two micro-beam 11 cross section arbitrary shapes (this example is got circle) of short-range missile electricity, this example of length 3-4mm(is got 3.5mm), this example of diameter 30-60 μ m(is got 30 μ m), this example of spacing 25-30mm(is got 27mm).The displacement of stringer structure 2 at vertical direction can be limited through 9, two holes of two support beams with holes respectively in stringer structure 2 two ends, and the lift of wing is conducted on fuselage.Stringer structure 2 displacement in the horizontal direction, the cooperation by the short-range missile micro-beam 11 of electricity and support beam with holes 9 limits (it is long that beam length is greater than hole).Stringer structure 2 can adopt flexible hinge to be connected with wing 3, the passive torsion while flapping to strengthen wing 3, thus improve the angle of attack, raising lift.
The driving principle of micro flapping wing air vehicle of the present invention is: adopt direct voltage drive, self-excited vibration based on stringer structure 2 in electrostatic field, drive wing to carry out complicated significantly fluttering, be specially: the positive and negative electrode of the adjustable dc voltage of battery 7 and support circuit 6 generations is connected on respectively on two electrodes 4, now between two electrodes 4, can produces a stable electrostatic field; In this electrostatic field, stringer structure 2 is subject to electrostatic force because of the electrostatic induction effect, and overcomes the elastic-restoring force generation skew of structure; When vdc further increases, electrostatic force and skew also increase thereupon, until elastic-restoring force be can't keep balance with electrostatic force the time, stringer structure 2 unstabilitys (pull-in) occurs and bumps with electrode 4; Because stringer structure 2 is fixed on the thoracic cavity skeleton 1 of insulation, both with any electrode, be not connected and there is no ground connection yet, in the electromotive force quick condition, so stringer structure 2 does not cause short circuit with the collision of electrode 4; What with above-mentioned collision process, carry out is that the charging and discharging process of 4 pairs of stringer structures 2 of electrode (makes the electromotive force of the electromotive force of stringer structure 2 and electrode 4 identical simultaneously, if collision is positive electrode, it is process of charging, if collision is negative potential, discharge process), because the electric capacity of stringer structure 2 is very little, this charge and discharge process can complete moment; Collision and discharged and recharged after, due to the opposite sex principle of repelling each other, the suffered electrostatic force of stringer structure 2 will be oppositely, electrostatic force and restoring force drive stringer structure 2 to move to reversing sense jointly, until bump and discharged and recharged with another electrode 4; So repeatedly, collision and the charge and discharge process of above-mentioned stringer structure 2 and electrode 4, just can make stringer structure 2 form stable Large Amplitude Vibration, as shown in the A in Fig. 5 (birds-eye view).Under the drive of the Large Amplitude Vibration of stringer structure 2, the wing in the present invention not only can produce significantly and flutter, and can also produce the active twist motion, as shown in the B in Fig. 5 (right elevation).Described active twist motion is also used by the realm of nature flying insect, and it is most important to the lift that improves the flapping wing motion.
In the present invention, the material for preparing of thoracic cavity skeleton 1, fuselage 5, foot support 8 can be various non-conductive light materials, as plastics, cork wood etc.; The material for preparing of stringer structure 2 can be various conductive material, and as silicon, gold, aluminium, copper, marmem etc., cross-sectional plane can be also various shape, as rectangle, circle, ellipse etc.; Wing 3 can be made through laser beam cutting by the membraneous material that comprises mylar and Kapton, or is obtained by the MEMS processing technology.Electrode 4 can be made through laser beam cutting by metallized film, or obtains by the MEMS processing technology; Support circuit 6 and battery 7 can pass through the integrated circuit technique micro-miniaturisation, and are integrated on fuselage.
In a word, the flapping wing structure in the present invention can produce self-excited vibration under direct voltage drive, and simultaneously it significantly, complicated flapping wing motion meets the flapping wing of realm of nature insect flying; The present invention has given up the necessary interchange drive configuration of flapping wing aircraft and drive mechanism in the past, and structure is very simple, greatly reduces the weight of flapping wing aircraft, easier micro-miniaturisation, allow make the span be less than 1cm even the flapping wing aircraft of 1mm become possibility; Add and adopt electrostatic force as propulsive effort, compare the existing driving principle such as Piezoelectric Driving, energy conversion efficiency of the present invention is higher.
The present invention shows to elaborate and belongs to techniques well known.
The above; it is only embodiments of the invention; not the present invention is done to any pro forma restriction; every any simple modification, equivalent variations and modification of above examples of implementation being done according to the principle of the invention and technical spirit; within all still belonging to the technical solution of the present invention scope, so protection scope of the present invention is when being as the criterion with claims.
Claims (9)
1. the micro flapping wing air vehicle based on static self-excitation driving principle, comprising: thoracic cavity skeleton, stringer structure, wing, electrode, fuselage, power supply and support circuit, foot support is characterized in that:
Described thoracic cavity skeleton includes two support beams with holes and two electrode suppors;
Described stringer structure is connected to form side by side by the micro-beam of a plurality of conductions, and described two support beams with holes are stretched into respectively at its two ends, in the both-end simply-supported state; Form the flapping wing structure after wing of each sticky note of the two ends of stringer structure;
Described electrode has two, is arranged on respectively on described two electrode suppors; The stringer structure between two electrodes, and with two electrode keeping parallelisms;
Described fuselage is positioned at skeleton below, thoracic cavity, is integrated with battery and support circuit on it;
Described power supply and support circuit provide adjustable dc voltage for two electrodes;
Described foot support is positioned at the fuselage below, as antenna and the balancing device of aircraft.
2. the micro flapping wing air vehicle based on static self-excitation driving principle according to claim 1, it is characterized in that: after vdc is applied on two electrodes, stable electrostatic field results between two electrodes, and now described stringer structure can produce self-excited vibration in electrostatic field.
3. the micro flapping wing air vehicle based on static self-excitation driving principle according to claim 1, it is characterized in that: the spacing of described two electrodes and angle can be regulated.
4. the micro flapping wing air vehicle based on static self-excitation driving principle according to claim 1, it is characterized in that: the material of described thoracic cavity skeleton, fuselage, foot support is the various non-conductive light material that comprises plastics, cork wood.
5. the micro flapping wing air vehicle based on static self-excitation driving principle according to claim 1, it is characterized in that: the material of described stringer structure is the various conductive material that comprise silicon, gold, aluminium, copper, marmem.
6. the micro flapping wing air vehicle based on static self-excitation driving principle according to claim 1, it is characterized in that: described wing is made through laser beam cutting by the membraneous material that comprises mylar, Kapton, or is obtained by the MEMS processing technology.
7. the micro flapping wing air vehicle based on static self-excitation driving principle according to claim 1, it is characterized in that: described two electrodes are made through laser beam cutting by metallized film, or obtain by the MEMS processing technology.
8. the micro flapping wing air vehicle based on static self-excitation driving principle according to claim 1 is characterized in that: described power supply and support circuit be by the integrated circuit technique micro-miniaturisation, and be integrated on fuselage.
9. the micro flapping wing air vehicle based on static self-excitation driving principle according to claim 1, it is characterized in that: the span of described micro flapping wing air vehicle is less than 5cm.
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| CN105151299A (en) * | 2015-09-28 | 2015-12-16 | 北京航空航天大学 | Wing torsion mechanism increasing flapping flight lift force |
| CN108631643A (en) * | 2018-04-02 | 2018-10-09 | 北京航空航天大学 | A kind of comb structure driver based on electrostatic self-excited vibration principle |
| CN109436320A (en) * | 2018-11-07 | 2019-03-08 | 深圳加创科技有限公司 | A kind of aircraft |
| CN110228589A (en) * | 2019-06-28 | 2019-09-13 | 浙江大学 | A kind of nonmetallic driving flapping wing aircraft based on high voltage electric field |
| CN111551397A (en) * | 2020-04-17 | 2020-08-18 | 浙江省海洋水产研究所 | Micro-plastic sampling device for seawater proportional concentration |
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