CN104260887A - Resonance-frequency-variable electromagnetic driven type double-drive micro flapping wing aircraft - Google Patents
Resonance-frequency-variable electromagnetic driven type double-drive micro flapping wing aircraft Download PDFInfo
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- CN104260887A CN104260887A CN201410513964.6A CN201410513964A CN104260887A CN 104260887 A CN104260887 A CN 104260887A CN 201410513964 A CN201410513964 A CN 201410513964A CN 104260887 A CN104260887 A CN 104260887A
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Abstract
The invention provides a resonance-frequency-variable electromagnetic driven type double-drive micro flapping wing aircraft, which comprises two DC (Direct current) motors, two current torsion-variable materials, DC motor fixing elements, two wing fixing elements and two wings comprising passive torsion hinges. During the flapping of the wings driven by the DC motors, the current torsion-variable materials have different torsion rigidities under different incidental charges or potentials, so as to obtain different resonance frequencies. The aircraft is high in controllability; the goal that the aircraft resonates to obtain a maximum flapping angle when flapping at different frequencies becomes possible; meanwhile, as each DC motor controls one wing independently, the flying attitude is diversified and the aircraft can be adaptive to various environments.
Description
Technical field
The present invention relates to a kind of device of minute vehicle technical field, particularly, relate to one and can change wing beating resonance frequency, and the electromagnetic drive type micro air vehicle with flapping-wing of two wing individual drive.
Background technology
Flapping-wing type aircraft is a kind of minute vehicle adopting the compound movement of wing to realize flight.Due to scale effect, the power that electromagnetic driver can provide under small scale is very limited, and due to inertia when wing is patted, changing velocity reversal needs to do a large amount of merit.A kind of method generally used at present makes it have certain rigidity by adding spring mechanism between the wing of flapping wing aircraft and actuator, the size of rigidity is designed to make aircraft resonance frequency just in time consistent with required resonance frequency, and then pat with this frequency, aircraft can be made to resonate, without the need to overcoming force of inertia acting.In addition, general microreactor technology simplifies in order to structure as far as possible, usually uses a driver control two wings, makes two wings can only perform same beating rule.
Domesticly in the research of micro-flapping-wing type aircraft, produce certain achievement.Publication number is 102328744A, application number is the Chinese patent of 201110223769.6, provides a kind of electromagnetic drive type flapping wing micro-aircraft based on flexible hinge.
But aircraft at present, if aforementioned publication number is the aircraft of 102328744A patent, due to the impact that yardstick is too little, flight optimum efficiency all can only realize when wing resonance frequency.Manually adjust wing position only feasible in experimentation to obtain ideal resonance frequency, due to labile factors such as processing, this scheme can not adopt when batch manufacturing, and is difficult to control accurately resonance frequency.When patting with other frequency, aircraft will pat amplitude because beating frequency is different from resonance frequency too small, and causing cannot normal flight.On the other hand, because two wings of aircraft are only by a driver control, therefore the beating rule of two wings is identical, in flight course, only have a kind of state of flight, makes the adaptive capacity extreme difference of microreactor technology.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing, this aircraft controllability is high, make aircraft pat with different frequency the maximum beating angle of acquisition of can resonating and become possibility, two motors independently control a wing simultaneously, make flight attitude variation, can different environment be adapted to.
For realizing above object, the invention provides a kind of variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing, comprise: two DC machine, two cover ER effect reverse materials, two comprise the wing of passive torsion hinge, a DC machine connecting element and two wing connecting elements, wherein: two DC machine are placed side by side and are connected and fixed by DC machine connecting element; Two DC machine and two wings are connected and fixed respectively by a wing connecting element; One end that two ER effect reverse materials respectively with DC machine connecting element consolidation, the other end respectively with two wing connecting element consolidations.
The present invention uses DC machine as actuator, and DC machine directly drives wing to pat, torsion in parallel mechanism between wing with DC machine, thus square being inversely proportional to system equivalent stiffness of resonance frequency of system.In this system, equivalent stiffness is relevant with the rigidity that ER effect reverses material.By the quantity of electric charge that adjustment ER effect torsion material contains, ER effect reverses material will show different torsional stiffnesies, thus play the effect changing resonance frequency.The frequency changing motor reciprocating rotation is identical with resonance frequency, can pat wing under this frequency with maximum beating angle.Two wings are independently controlled by two DC machine, by inputting the difference of the electric signal of motor, can complete the beating action that two wings are different.
Preferably, described DC machine connecting element comprises base, top and the vertical round bar for being connected base and top, and the arranged on left and right sides face of base is spill, two DC machine respectively with the arranged on left and right sides spill place consolidation of base; The center of base upper surface is fixed in one end of vertical round bar, the other end is connected with the central vertical at top; The left and right elongated end end at top is semicircle, and semicircle is coaxial and directly over DC machine with DC machine.
Preferably, the radius of the base arranged on left and right sides spill of described DC machine connecting element is identical with the fuselage radius of described DC machine, and the elongated end end at the top of described DC machine connecting element is positioned at directly over described DC machine coaxial with described DC machine.
Preferably, described wing connecting element is made up of the first half and the latter half, and the latter half is one cylindrical, and be provided with a circular groove at columniform lower surface along the center of circle, the rotating shaft of this circular groove and DC machine matches; The first half is a triangular structure, and the upper surface of itself and the latter half has the oblique angle of one 45 °, and this face, 45 ° of oblique angles is used for and wing consolidation.
It is that cylinder reverses material, the lower surface consolidation of the top elongated end of cylindrical upper surface and DC machine connecting element, the upper surface consolidation of the latter half of cylindrical lower surface and wing connecting element that described ER effect reverses material.
The described wing comprising passive torsion hinge comprises by passive torsion structure, described passive torsion structure is made up of the gap between two rectangular blocks and two rectangular blocks, gap between two rectangular blocks provides the degree of freedom of the passive torsion of wing as flexible hinge, with the interaction of air under be similar to the rotation around x-axis of insect, form the angle of attack that wing is fluttered in process.
Preferably, described aircraft uses DC machine as actuator, and DC machine directly drives wing to pat, and between wing and DC machine, parallel current becomes and reverses material, thus system resonance frequency square and system equivalent stiffness be inversely proportional to; Within the system, equivalent stiffness is relevant with the rigidity that ER effect reverses material, the quantity of electric charge contained by adjustment ER effect torsion material or electromotive force, and ER effect reverses material will show different torsional stiffnesies, thus play the effect changing resonance frequency; The frequency changing DC machine reciprocating rotation is identical with resonance frequency, can pat wing under this frequency with maximum beating angle; Two wings are independently controlled by two DC machine, by the difference of the electric signal of input direct-current motor, can complete the beating action that two wings are different.
Preferably, the described wing comprising passive torsion hinge also comprises brace, vein and parachute, and wherein: parachute is pasted onto on vein, brace is fixed on the rectangular block that passive torsion is in above hinge, and its position does not interfere wing to rotate 45 ° around x-axis, vein shape imitates insect vein.
More preferably, described vein is carbon fiber or metallic material, and described parachute is mylar or polyimide film.
More preferably, described in comprise wing center of gravity vertical position 1/3 place before described DC machine of passive torsion hinge, accuracy requirement error is within 1mm.
Compared with prior art, the present invention has following beneficial effect:
The present invention, compared with existing flapping wing aircraft, has and can change wing and pat the advantage of resonance frequency, also has the advantage that can perform the incomplete same beating action of two wings.With general uncontrollable resonance frequency, two wings are patted the identical flapping wing aircraft of action and are compared, and this advantage must realize more complicated motion, also can adapt to more complicated flight environment of vehicle.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the integral structure isometric drawing of one embodiment of the invention;
Fig. 2 is DC machine and wing connecting element connection diagram in one embodiment of the invention;
Fig. 3 is the isometric drawing of DC machine in one embodiment of the invention;
Fig. 4 is the isometric drawing of wing connecting element in one embodiment of the invention;
Fig. 5 is the isometric drawing of motor fixture in one embodiment of the invention;
Fig. 6 is the isometric drawing that in one embodiment of the invention, ER effect reverses material;
Fig. 7 is the back view of left wing in one embodiment of the invention;
Fig. 8 is the wing center-of-gravity position schematic diagram of one embodiment of the invention;
In figure: 1,2 is DC machine, 3,4 is wing, 5 is DC machine connecting element, 6,7 is wing connecting element, 8,9 is ER effect torsion material, and 10 is DC machine the first half, and 11 is wing connecting element the latter half, 12 is wing connecting element the first half, 13,14 is left and right both sides bottom motor fixture, and 15 is round bar, and 16,17 is top elongated end, 18,19 is the ER effect torsion upper and lower surface of material, 20,21 is passive torsion structure, and 22 is brace, and 23 is vein, 24 is parachute, and 25 is wing center of gravity.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
As shown in Figure 1, 2, the present embodiment provides a kind of variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing, comprise: two reduction ratios are the DC machine 1,2 of 1:26, two wings 3,4, a DC machine connecting element 5, two wing connecting elements 6,7, two ER effect reverse material 8,9; Wherein: two described DC machine 1,2 are placed side by side and are connected and fixed by described DC machine connecting element 5; Be connected and fixed by described wing connecting element 6 with wing 3 described in described DC machine 1, described DC machine 2 is connected and fixed by described wing connecting element 7 with described wing 4; The upper surface consolidation of one end of described ER effect torsion material 8 and the top elongated end left distal end consolidation of DC machine connecting element 5, the other end and wing connecting element 6, the upper surface consolidation of one end of described ER effect torsion material 9 and the top elongated end right end consolidation of DC machine connecting element 5, the other end and wing connecting element 7.
As shown in Figure 3, be the DC motor structure schematic diagram of reduction ratio 1:26, the rotating shaft 10 of described DC machine the first half is a cylindrical structural.This kind of motor can be bought by general micromotor company.
As shown in Figure 4, for the structural representation of described wing connecting element, described wing connecting element (wing connecting element 7 is identical with wing connecting element 6 structure) comprises wing connecting element the latter half 11 and wing connecting element the first half 12, wherein: described wing connecting element the latter half 11 is a cylindrical structural, the place of bottom centre of cylindrical structural is provided with the circular trough of a vertical direction, and size and described DC machine the first half 10 of circular trough match; Described wing connecting element the first half 12 is a triangular structure of right angle, its triangle inclined-plane and horizontal plane angle 45 °.Described aircraft span is less than 14cm.
As shown in Figure 5, for the structural representation of DC machine connecting element, described DC machine connecting element 5 comprises the vertical round bar 15 with top bottom bottom, top and connection, wherein: bottom motor fixture, left and right both sides 13,14 are spill, the radius of curvature of spill equals the fuselage radius of DC machine 1,2, DC machine 1,2 respectively with motor fixture bottom left and right both sides 13,14 place's consolidation; The bottom centre of DC machine connecting element 5 is provided with a vertical round bar 15 for connection, support, top; Top and vertical round bar 15 plane orthogonal, the top elongated end 16,17 of the left and right sides, top is semicircle, semicircle and DC machine 1,2 coaxial, and directly over DC machine 1,2.
As shown in Figure 6, for ER effect reverses the structural representation of material, it is a cylindrical structure that described ER effect reverses material (it is identical that ER effect torsion material 9 and ER effect reverse material 8 structure), and its torsional stiffness meets resonance frequency formula:
Wherein: f is resonance frequency, m is the rotor inertia that wing pats phase countershaft, and k is the torsional stiffness that ER effect reverses material.
In the present embodiment, the upper surface 18 that two identical described ER effect reverse material 8,9 respectively with the lower surface consolidation of the top elongated end 16,17 of DC machine connecting element 5, the lower surface 19 that two described ER effect reverse materials 8,9 respectively with the upper surface consolidation of wing connecting element 6,7.During use, described ER effect reverses material 8,9 can adopt different types of er material, if material properties is relevant with quantity of electric charge, then needs an external polygon control survey quantity of electric charge; If material properties is relevant with intensity of current, then external two polygon control survey ER effect are needed to reverse the electric potential difference of material 8,9 liang of terminals.
As shown in Figure 7, for the structural representation of described wing 3, described wing 3 is by passive torsion structure 20,21, brace 22, vein 23 and parachute 24 form, and wherein: passive torsion structure 20,21 is formed by the gap between two rectangular blocks and two rectangular blocks, the gap of formation provides the degree of freedom of the passive torsion of wing 3 as flexible hinge, with the interaction of air under be similar to insect around Fig. 7 in the rotation of x-axis, form the angle of attack that wing 3 is fluttered in process; Brace 22 sticks on passive torsion place rectangular block, and edge aligns with the top of rectangular block; Parachute 24 is pasted onto on vein 23, and parachute 24 is shaped under laser beam cutting for mylar or polyimide film; The material of vein 23 can be metallic material, and be pasted onto as in Fig. 7 on passive torsion structure 21, vein 23 also can adopt carbon fibre material, so just consistent with the material of passive torsion structure 21, can the structure of being made of one.
Be illustrated in figure 8 the position of wing center of gravity 25, its vertical position is 1/3 place before DC machine 1,2, within accuracy requirement error 1mm.
During System Operation, two DC machine access certain frequencies, the sinusoidal signal of assignment, the electromotive force that ER effect reverses material 8,9 upper conductor is connected to by adjustment, adjustment ER effect reverses the torsional stiffness of material 8,9, makes the resonance frequency of system identical with the frequency of input direct-current motor sinusoidal signal, now system can resonate, and wing pats frequency can reach maxim.
Based on above method, left and right two DC machine can input different signals, if two motor incoming frequencies are identical, the sinusoidal signal that assignment is different, then can make two wings produce different lift, thus flies to the direction that lift is little.Also two identical signals can be inputted, signal dormitory class sinusoidal signal, when wing seesaws, different from the cycle of moving backward forward, thus can foe and aft force be produced, aircraft is flown forward or backward.Also above-mentioned two methods can be combined, produce more complicated motion.
Aircraft controllability of the present invention is high, and making aircraft pat with different frequency the maximum beating angle of acquisition of can resonating becomes possibility, and two DC machine independently control a wing simultaneously, make flight attitude variation, can adapt to different environment.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (10)
1. a variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing, it is characterized in that, comprise: two DC machine, two cover ER effect reverse materials, two comprise the wing of passive torsion hinge, a DC machine connecting element and two wing connecting elements, wherein: two DC machine are placed side by side and are connected and fixed by DC machine connecting element; Two DC machine, two wings are connected and fixed respectively by a wing connecting element; One end that two ER effect reverse materials respectively with DC machine connecting element consolidation, the other end respectively with two wing connecting element consolidations.
2. a kind of variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing according to claim 1, it is characterized in that, described aircraft uses DC machine as actuator, DC machine directly drives wing to pat, between wing and DC machine, parallel current becomes and reverses material, thus square being inversely proportional to system equivalent stiffness of resonance frequency of system; Within the system, equivalent stiffness is relevant with the rigidity that ER effect reverses material, the quantity of electric charge contained by adjustment ER effect torsion material or electromotive force, and ER effect reverses material will show different torsional stiffnesies, thus play the effect changing resonance frequency; The frequency changing DC machine reciprocating rotation is identical with resonance frequency, can pat wing under this frequency with maximum beating angle; Two wings are independently controlled by two DC machine, by the difference of the electric signal of input direct-current motor, can complete the beating action that two wings are different.
3. a kind of variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing according to claim 1 and 2, it is characterized in that, described DC machine connecting element comprises base, top and the vertical round bar for being connected base and top, the arranged on left and right sides face of base is spill, two DC machine respectively with the arranged on left and right sides spill place consolidation of base; The center of base upper surface is fixed in one end of vertical round bar, the other end is connected with the central vertical at top; The left and right of top is equipped with elongated end, and the end of this elongated end is semicircle, and semicircle is coaxial and directly over DC machine with DC machine.
4. a kind of variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing according to claim 3, it is characterized in that, the radius of the base arranged on left and right sides spill of described DC machine connecting element is identical with the fuselage radius of described DC machine, and the elongated end end at the top of described DC machine connecting element is positioned at directly over described DC machine coaxial with described DC machine.
5. a kind of variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing according to claim 3, it is characterized in that, described wing connecting element is made up of the first half and the latter half, the latter half is one cylindrical, be provided with a circular groove at columniform lower surface along the center of circle, the rotating shaft of this circular groove and DC machine matches; The first half is a triangular structure, and the upper surface of itself and the latter half has the oblique angle of one 45 °, and this face, 45 ° of oblique angles is used for and wing consolidation.
6. a kind of variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing according to claim 5, it is characterized in that, it is that cylinder reverses material that described ER effect reverses material, the lower surface consolidation of the top elongated end of cylindrical upper surface and DC machine connecting element, the upper surface consolidation of the latter half of cylindrical lower surface and wing connecting element.
7. a kind of variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing according to claim 1 and 2, it is characterized in that, the described wing comprising passive torsion hinge comprises by passive torsion structure, described passive torsion structure is made up of the gap between two rectangular blocks and two rectangular blocks, gap between two rectangular blocks provides the degree of freedom of the passive torsion of wing as flexible hinge, with the interaction of air under be similar to the rotation around x-axis of insect, form the angle of attack that wing is fluttered in process.
8. a kind of variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing according to claim 7, it is characterized in that, the described wing comprising passive torsion hinge also comprises brace, vein and parachute, wherein: parachute is pasted onto on vein, brace is fixed on the rectangular block that passive torsion is in above hinge, and its position does not interfere wing to rotate 45 ° around x-axis, vein shape imitates insect vein.
9. a kind of variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing according to claim 1 and 2, it is characterized in that, described vein is carbon fiber or metallic material, and described parachute is mylar or polyimide film.
10. a kind of variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing according to claim 1 and 2, it is characterized in that, described wing center of gravity vertical position 1/3 place before described DC machine comprising passive torsion hinge, accuracy requirement error is within 1mm.
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| CN201410513964.6A CN104260887B (en) | 2014-09-29 | 2014-09-29 | Variable resonance frequency electromagnetic drive-type Dual Drive micro air vehicle with flapping-wing |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104760697A (en) * | 2015-04-07 | 2015-07-08 | 广西壮族自治区科学技术馆 | Electromagnetic driven micro ornithopter |
| CN104828246A (en) * | 2015-05-06 | 2015-08-12 | 李维农 | Scheme for improving efficiency of flapping-wing aircraft |
| CN106043692A (en) * | 2016-06-08 | 2016-10-26 | 中国民航大学 | Multi-freedom degree bird-like flapping wing air vehicle |
| WO2016177336A1 (en) * | 2015-05-06 | 2016-11-10 | 李维农 | Flapping wing machine and solution for improving efficiency of flapping wing aircraft |
| RU2615605C1 (en) * | 2015-11-02 | 2017-04-05 | Российская Федерация, от имени которой выступает Министерство промышленности и торговли Российской Федерации (Минпромторг России) | Aircraft with adaptive all-moving stabilizer |
| CN109080829A (en) * | 2018-10-15 | 2018-12-25 | 南京航空航天大学 | A kind of micro flapping wing air vehicle based on flexible hinge |
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| CN102328744A (en) * | 2011-08-05 | 2012-01-25 | 上海交通大学 | Electromagnetically-driven flapping wing type micro aircraft based on flexible hinges |
| CN103492264A (en) * | 2011-02-17 | 2014-01-01 | 佐治亚技术研究公司 | Hovering and gliding multi-wing flapping micro aerial vehicle |
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| US6206324B1 (en) * | 1999-08-30 | 2001-03-27 | Michael J. C. Smith | Wing-drive mechanism, vehicle employing same, and method for controlling the wing-drive mechanism and vehicle employing same |
| US20060060698A1 (en) * | 2004-06-24 | 2006-03-23 | Yoshiji Ohta | Moving apparatus |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104760697A (en) * | 2015-04-07 | 2015-07-08 | 广西壮族自治区科学技术馆 | Electromagnetic driven micro ornithopter |
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Inventor after: Zhang Weiping Inventor after: Chen Wenyuan Inventor after: Ye Yinan Inventor after: Li Yifan Inventor after: Lou Xingliang Inventor after: Zou Yang Inventor after: Ke Xijun Inventor after: Zhang Zheng Inventor after: Chai Shuangshuang Inventor after: Wu Fan Inventor after: Hu Nan Inventor after: Zhang Wei Inventor before: Zhang Weiping Inventor before: Chen Wenyuan Inventor before: Ye Yinan Inventor before: Li Yifan Inventor before: Lou Xingliang Inventor before: Zou Yang Inventor before: Ke Xijun Inventor before: Zhang Zheng Inventor before: Chai Shuangshuang Inventor before: Wu Fan Inventor before: Hu Nan Inventor before: Zhang Wei |
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