CN103482065B - A kind of micro flapping wing air vehicle based on electrostatic self-excited driving principle - Google Patents
A kind of micro flapping wing air vehicle based on electrostatic self-excited driving principle Download PDFInfo
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Abstract
Based on a micro flapping wing air vehicle for electrostatic self-excited driving principle, comprising: thoracic cavity skeleton, stringer structure, wing, electrode, fuselage, power supply and support circuit, foot support; Thoracic cavity skeleton is for supporting stringer structure and electrode; Stringer structure is made up of side by side the micro-beam of multiple conduction, forms flapping wing structure after each sticky note in its two ends wing; Flapping wing structure in the skeleton of thoracic cavity in both-end simply-supported state, between two electrodes, and with electrode keeping parallelism; Connect fuselage below the skeleton of thoracic cavity, fuselage is integrated with battery and support circuit; Described power supply and support circuit provide adjustable dc voltage for two electrodes; Connecting pin support below fuselage, foot support is as the antenna of aircraft and balancing device.Structure of the present invention is simple, lightweight, easier micro-miniaturisation; And energy conversion efficiency of the present invention is higher.
Description
Technical field
What the present invention relates to is the device that a kind of field of micro electromechanical technology combines with minute vehicle technical field, specifically the micro flapping wing air vehicle of a kind of self-excited vibration principle based on structure in electrostatic field, employing 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, more easily realizes taking off fast, accelerates, the function such as hovering, is adapted at executing the task in the small spaces such as jungle, street, indoor.Which kind of drive system the important airmark such as manoevreability, cruise duration of flapping wing aircraft adopts closely related with it, therefore, to the exploration of flapping wing aircraft drive system, research and development be academia always, the hot issue paid close attention to of industry member.
The drive system of flapping wing aircraft is generally made up of actuator, transmission device, wing three part.Along with the progress of micro-nano process technology, the volume of aircraft progressively reduces, and the mode of its flapping motion is closer to insect, and actuator is selected also changing.The aircraft that volume is bigger than normal, still can adopt technology maturation, export the motor of rotary motion as actuator, then by transmission device, rotary motion is converted to the double vibrations (such as application number is the Chinese invention patent of 200810008165.8) of band certain track.But along with the reduction of volume, the performance of motor and the efficiency of transmission device sharply decline because of scale effect.At present, the flapping wing aircraft (span is less than 5cm) of insect size magnitude adopts the linear pattern microdrive based on novel driving principle more, as piezoelectric ceramic actuator, Electromagnetic Drive etc. (such as application number be 201010289254.1 and application number be the Chinese invention patent of 201310167268.X).
The flapping wing aircraft of insect size magnitude, be mainly used in executing the task at narrow spaces such as indoor, caves, needed various maneuver, and can carry limited energy, this just requires that microdrive should have larger horsepower output and energy conversion efficiency.At present, linear pattern micro-move device principle mainly comprises thermal drivers, marmem (SMA) driving, electrostatic driving, artificial muscle driving, Piezoelectric Ceramic etc.Wherein, the actuating speed that thermal drivers and SMA drive is very slow, out of reach the insect tens far away even frequency of fluttering its wings up and down of hundreds of hertz, and energy conversion efficiency is extremely low, is not suitable for use in flapping wing aircraft; Quiet electrically operated drive displacement and propulsive effort all very little, the corollary system weight that artificial muscle drives is very large, and the lift causing the two to produce 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 present stage the most popular micro-flapping wing driving principle.2013, people " the Controlled Flight of a Biologically Inspired; Insect-Scale Robot " be published on SCIENCE magazine such as the Wood of Ha Fu university report a kind of micro flapping wing air vehicle of the insect size magnitude based on Piezoelectric Driving, and achieve controllable flight first.The deficiency of this aircraft is, its high-voltage ac power and control circuit are due to complex structure and weight is large, cannot be integrated in can only be external on fuselage, thus cause the energy needed for flapping flight and control signal can only conduct on aircraft by fine copper wire, namely only can realize the messenger wire flight as kite.
According to current engineering factor, the free flight when length that the above-mentioned flapping wing aircraft based on Piezoelectric Driving principle be made to realize carrying power supply and control circuit is navigated, difficulty is very large, mainly contains following 2 reasons: the energy conversion efficiency of (1) piezoceramic is low.Energy conversion process involved by 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 motion.And due to principle of work restriction, the electromechanical energy conversion efficiency of piezoelectric ceramic actuator only has 10%-30%, causes the energy conversion efficiency of aircraft entirety very low.(2) complex structure.Piezoceramic, also only can the very little straight-line motion (usually only having hundreds of micron) of output amplitude under the excitation of the alternating-current voltage/AC voltage of upper hectovolt.And high lift will be produced, need to carry out significantly complicated flapping motion, be embodied in wing converting tangential torsion when fluttering direction, and the 8-shaped of wing tip or elliptic motion trace.Therefore, must be equipped with extraly to exchange and occur and amplifier, displacement pickup, reactive circuit and displacement equations structure (normally four-bar linkage), with " being forced to resonance " state making whole flapping wing structure be in amplitude all the time, and realize the path of motion of wing complexity.But the corollary system of above-mentioned complexity, except weight is very large, also will consumes more energy, cause the thrust-weight ratio of whole drive system and energy conversion efficiency to reduce further.
Summary of the invention
The technical matters that the present invention solves: overcome the deficiencies in the prior art, provide a kind of micro flapping wing air vehicle based on electrostatic self-excited driving principle, it adopts electrostatic force as propulsive effort, and therefore electromechanical energy conversion efficiency is very high; And structure is simple, is easy to further micro-miniaturisation.
Technical solution of the present invention: the micro flapping wing air vehicle based on electrostatic self-excited driving principle of the present invention, specifically comprises: thoracic cavity skeleton, stringer structure, wing, electrode, fuselage, power supply and support circuit, foot support.Wherein, thoracic cavity skeleton includes two support beams with holes and two electrode suppors, is respectively used to support stringer structure and electrode; Stringer structure is connected to form side by side by the micro-beam of multiple conduction, forms flapping wing structure after each sticky note in its two ends wing; The two ends of flapping wing structure are stretched in the hole of described two support beams with holes, in both-end simply-supported state respectively; Two electrodes are installed on two described electrode suppors respectively, and flapping wing structure is clipped in the middle by two electrodes, and with flapping wing structure keeping parallelism; Fuselage is positioned at below the skeleton of thoracic cavity, it is integrated with battery and support circuit, and the mouth of support circuit is connected with described two electrodes, for two electrodes provide adjustable dc voltage; Foot support is positioned at below fuselage, plays equilibrium activity, and can be used as the antenna of aircraft.
When vdc is applied to after on two electrodes, stable electrostatic field can result between two electrodes, the stringer structure of now described both-end freely-supported can produce self-excited vibration in electrostatic field, drives wing to realize complicated three-dimensional simultaneously and flutters, similar to the flapping motion of occurring in nature insect.
The material of preparing of described thoracic cavity skeleton, fuselage, foot support can be various non-conductive light materials, as plastics, cork wood etc.; The material of preparing of described stringer structure can be various conductive material, as silicon, gold, aluminium, copper, marmem etc.; Described wing can be made up through laser beam cutting of the membraneous material comprising mylar and Kapton, or is obtained by MEMS processing technology.Described electrode can be made up through laser beam cutting of metallized film, or is obtained by MEMS processing technology; Described battery and support circuit by integrated circuit technique micro-miniaturisation, and are integrated on fuselage.
Because driving principle and structure are very simple, the span of the present invention is less than 5cm usually, and after MEMS technology micro-miniaturisation, the span of the present invention can be less than 1cm even 1mm.
Through theory calculate and experimental investigation, when described stringer structure to be connected and composed side by side by 2-5 the micro-beam of cylindrical conductive and conducts electricity that the length-diameter ratio (length-to-diameter) of micro-beam is about 400 ~ 800, electrode separation is 0.05 ~ 0.15 with the ratio of the micro-beam length of conduction, stringer structure can when not having alternating current drive signal, only rely on vdc, inputted by the retroactive effect adjusting energy of displacement state, remain at the vibrational state near first natural frequency, and drive wing to carry out there be significantly fluttering of track.From 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 is compared with prior art:
(1) energy conversion efficiency is high.As previously mentioned, the energy conversion efficiency of micro flapping wing air vehicle depends on electromechanical energy conversion efficiency, the driving efficiency of transmission device, the pneumatic efficiency of flapping motion of actuator.For the present invention, first, its actuator utilizes the electrostatic force of electromechanical energy conversion efficiency very high (about 90%) as propulsive effort; Secondly, wing of the present invention is directly by driver drives, and do not have complicated transmission device, therefore driving efficiency is equally very high; In addition, the complex three-dimensional that flapping wing structure of the present invention can realize amplitude is fluttered, similar to Live Flying insect, and pneumatic efficiency is also higher.
(2) structure is simple.The micro flapping wing air vehicle of structure based electrostatic self-excited 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 change of first natural frequency and change, without any need for interchange generation and the frequency following device of complexity.On the other hand, the self-excited vibration of stringer structure can carry out significantly flapping motion by Direct driver flapping wing, and does not need extra displacement equations and mapping device.The simple driving principle that the present invention proposes and structure, while reduction actuator weight, raising thrust-weight ratio, be also 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 1cm even 1mm.
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;
Fig. 5 is the present invention's vibration processes (overlooking) of stringer structure and process of flapping (right side is looked) of wing when working.
Detailed description of the invention
As shown in Figure 1, the invention provides a kind of examples of implementation of the micro flapping wing air vehicle based on electrostatic self-excited 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 flapping wing structure, and thoracic cavity skeleton 1 provides support for stringer structure 2 and electrode 4, and lower end is connected with fuselage 5.Fuselage 5 is integrated with battery 7 and support circuit 6, the mouth of support circuit 6 provides adjustable dc voltage for two electrodes 4.Fuselage 5 lower end connecting pin support 8, foot support 8 can be antenna as 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 middle, the two keeping parallelism, wherein, two support beams 9 with holes, by stringer structure double end freely-supported, namely limit the displacement of its level and vertical direction at the two ends of stringer structure, but do not limit the motion of its bending and torsion.The strong point of two holes on support beam 9 with holes as stringer structure 2 and the transmission point of lift.Electrode suppor 10 allows electrode to rotate around its axis, to realize different electrode angles and spacing, is used for changing the state of flapping motion.
As shown in Figure 3 and Figure 4, stringer structure 2 comprises four micro-beam arrangement in parallels of long conduction, and carries out connecting with two micro-beams 11 of short-range missile electricity and shape, and two ends of stringer structure 2 glue note wing 3.Wherein, four micro-beam sections of long conduction can be arbitrary shape (due to the friction of round section and collision loss less, this example gets circle), this example of length 30-50mm(gets 40mm), diameter 30-60 μm (this example gets 60 μm), this example of spacing 0.5-1mm(gets 0.7mm).But two micro-beam 11 cross sections arbitrary shape (this example gets circle) of short-range missile electricity, this example of length 3-4mm(gets 3.5mm), diameter 30-60 μm (this example gets 30 μm), this example of spacing 25-30mm(gets 27mm).Stringer structure 2 two ends are each passed through two support beams with holes, 9, two holes can limit the displacement of stringer structure 2 at vertical direction, and is conducted on fuselage by the lift of wing.Stringer structure 2 displacement in the horizontal direction, then limited (it is long that beam length is greater than hole) by the cooperation of the short-range missile micro-beam 11 of electricity and support beam with holes 9.Stringer structure 2 and wing 3 can adopt flexible hinge to be connected, and to strengthen passive torsion when wing 3 is flapped, 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, based on the self-excited vibration of stringer structure 2 in electrostatic field, wing is driven to carry out complicated significantly fluttering, be specially: the positive and negative electrode of adjustable dc voltage battery 7 and support circuit 6 produced is connected on two electrodes 4 respectively, now can produce a stable electrostatic field between two electrodes 4; In this electrostatic field, stringer structure 2 is subject to electrostatic force because of electrostatic induction effect, and the elastic-restoring force overcoming structure produces skew; When vdc increases further, electrostatic force and skew also increase, until when elastic-restoring force cannot keep balancing with electrostatic force, stringer structure 2 unstability (pull-in) occurs and collides with electrode 4 thereupon; Because stringer structure 2 is fixed on the thoracic cavity skeleton 1 of insulation, be not both connected with any electrode and also do not had ground connection, be in electromotive force quick condition, therefore stringer structure 2 does not cause short circuit with the collision of electrode 4; What carry out with above-mentioned collision process is that the charging and discharging process of electrode 4 pairs of stringer structures 2 (makes the electromotive force of the electromotive force of stringer structure 2 and electrode 4 identical simultaneously, if collision is positive electrode, it is then process of charging, if collision is negative potential, then discharge process), because the electric capacity of stringer structure 2 is very little, this charge and discharge process can complete instantaneously; Collision and after discharge and recharge completes, because the opposite sex is repelled each other principle, the electrostatic force suffered by stringer structure 2 will be reverse, and electrostatic force and restoring force drive stringer structure 2 to move to reversing sense jointly, until collide with another electrode 4 and carry out discharge and recharge; So repeatedly, the collision of above-mentioned stringer structure 2 and electrode 4 and charge and discharge process, just can make stringer structure 2 form stable significantly vibration, as shown in the A in Fig. 5 (birds-eye view).Under the drive significantly vibrated of stringer structure 2, the wing in the present invention can not only produce and significantly flutter, and can also produce active twist motion, as shown in the B in Fig. 5 (right elevation).Described active twist motion is also used by realm of nature flying insect, and it is most important to the lift improving flapping motion.
In the present invention, the material of 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 of preparing of stringer structure 2 can be various conductive material, and as silicon, gold, aluminium, copper, marmem etc., cross-sectional plane also can be various shape, as rectangle, circle, ellipse etc.; Wing 3 can be made up through laser beam cutting of the membraneous material comprising mylar and Kapton, or is obtained by MEMS processing technology.Electrode 4 can be made up through laser beam cutting of metallized film, or is obtained by MEMS processing technology; Support circuit 6 and battery 7 can pass through 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 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, allows make the span and be less than the 1cm even flapping wing aircraft of 1mm and 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; only embodiments of the invention; not any pro forma restriction is done to the present invention; every above examples of implementation are done according to the principle of the invention and technical spirit any simple modification, equivalent variations and modification; all still belong within technical solution of the present invention scope, therefore protection scope of the present invention is when being as the criterion with claims.
Claims (9)
1. based on a micro flapping wing air vehicle for electrostatic self-excited 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 by the micro-beam arrangement in parallel of multiple conduction, and two described support beams with holes are stretched at its two ends respectively, are in both-end simply-supported state; Flapping wing structure is formed after a wing is respectively pasted at the two ends of stringer structure;
Described electrode has two, is arranged on two described electrode suppors respectively; Stringer structure between two electrodes, and with two electrode keeping parallelisms;
Described fuselage is positioned at below the skeleton of thoracic cavity, it is integrated with power supply and support circuit;
Described power supply and support circuit provide adjustable dc voltage for two electrodes;
Described foot support is positioned at below fuselage, as antenna and the balancing device of aircraft.
2. the micro flapping wing air vehicle based on electrostatic self-excited driving principle according to claim 1, it is characterized in that: when vdc is applied to after 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 electrostatic self-excited driving principle according to claim 1, is characterized in that: spacing and the angle of described two electrodes can regulate.
4. the micro flapping wing air vehicle based on electrostatic self-excited driving principle according to claim 1, is characterized in that: the material of described thoracic cavity skeleton, fuselage, foot support is the various non-conductive light material comprising plastics, cork wood.
5. the micro flapping wing air vehicle based on electrostatic self-excited driving principle according to claim 1, is characterized in that: the material of described stringer structure is the various conductive material comprising silicon, gold, aluminium, copper, marmem.
6. the micro flapping wing air vehicle based on electrostatic self-excited driving principle according to claim 1, it is characterized in that: described wing by comprising mylar, the membraneous material of Kapton makes through laser beam cutting, or obtained by MEMS processing technology.
7. the micro flapping wing air vehicle based on electrostatic self-excited driving principle according to claim 1, is characterized in that: two described electrodes are made up through laser beam cutting of metallized film, or are obtained by MEMS processing technology.
8. the micro flapping wing air vehicle based on electrostatic self-excited driving principle according to claim 1, is characterized in that: described power supply and support circuit by integrated circuit technique micro-miniaturisation, and are integrated on fuselage.
9. the micro flapping wing air vehicle based on electrostatic self-excited driving principle according to claim 1, is characterized in that: the span of described micro flapping wing air vehicle is less than 5cm.
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| CN105151299B (en) * | 2015-09-28 | 2018-03-09 | 北京航空航天大学 | A kind of wing twist mechanism for lifting flapping flight lift |
| CN108631643B (en) * | 2018-04-02 | 2019-10-01 | 北京航空航天大学 | A kind of comb structure driver based on electrostatic self-excited vibration principle |
| CN109436320B (en) * | 2018-11-07 | 2023-12-15 | 杭州翼能科技有限公司 | Aircraft |
| CN110228589B (en) * | 2019-06-28 | 2021-08-17 | 浙江大学 | Nonmetal driving flapping wing aircraft based on high-voltage electric field |
| CN111551397B (en) * | 2020-04-17 | 2022-10-28 | 浙江省海洋水产研究所 | Micro-plastic sampling device for seawater proportional concentration |
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