CN107054645A - A kind of assistant deforms bionical unmanned vehicle and deformation control method - Google Patents
A kind of assistant deforms bionical unmanned vehicle and deformation control method Download PDFInfo
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- CN107054645A CN107054645A CN201710219621.2A CN201710219621A CN107054645A CN 107054645 A CN107054645 A CN 107054645A CN 201710219621 A CN201710219621 A CN 201710219621A CN 107054645 A CN107054645 A CN 107054645A
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- bionical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/40—Ornithopters
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Abstract
A kind of assistant deforms bionical unmanned vehicle and deformation control method, and the aircraft is made up of propeller, blended wing-body wing panel, flexible wing panel, folding assistant control section, bionical assistant and the big functional part of stabilizing fin wing panel 6；Aerodynamic configuration when small bird hovers is simulated by two kinds of bionical combinations of basic deformation of folding of the flexible and bionical assistant for wing panel of stretching, so as to realize that assistant deforms the maneuverability stabilized flight in the complicated landform such as city, jungle, mountain region and the random ultralow Altitude in sinuous flow low latitude of small space of bionical unmanned plane；In order to overcome traditional fixed-wing or multi-rotor unmanned aerial vehicle to be difficult to the difficulty that the fast and flexible in complicated near-earth sinuous flow environment stablizes motor-driven shuttle.
Description
Technical field
The invention belongs to unmanned vehicle field, more particularly to a kind of assistant deforms bionical unmanned vehicle and Deformation control
Method.
Background technology
The near-earth landforms such as city, mountain region or jungle are sufficiently complex, often occur that the random sinuous flow of various burst wind shears shows
As.The different wind direction sinuous flows of different wind speed cause traditional stationarity or multi-rotor unmanned aerial vehicle maneuverability stability to face a severe test.
Therefore in the urgent need to adapting to the new unmanned vehicle of the complicated near-earth flight environment of vehicle of city, mountain region or jungle.Birds can be simulated
Turn into further lifting unmanned plane pneumatic efficiency, mobility and flight with the intelligent bionic variable geometry aircraft technology of insect flying
The main development direction of adaptive capacity to environment.Bionic mechanical insect has micromachined manufacture, and assembly difficulty is big, the airborne energy
Capacity is low, load carrying capacity is small, anti-fitful wind poor-performing the problems such as, in severe city, jungle, mountain region etc., complicated near-earth flies
Row performance still faces larger challenge.And imitative Bird Flight device is imitated insects and flown relatively in size, load carrying behaviour and realizability
Row utensil is advantageous.Intelligent deformation vehicle technology representative at present imitates emphatically Bird Flight to the bionical of birds
Basic poses or flight configuration, are largely focused on the research to overall continuous modification wing, rely primarily on intellectual material driving
Smooth continuous aerofoil profile and stressed-skin construction are kept to realize wing deformation or fold, Intelligent material structure performance is proposed and greatly chosen
War, and cost is high, complicated, deflection is small and control effect is undesirable.
The content of the invention
It is stable in order to overcome traditional fixed-wing or multi-rotor unmanned aerial vehicle to be difficult to the fast and flexible in complicated near-earth sinuous flow environment
The difficulty of motor-driven shuttle, the present invention breaks through the design concept of existing intelligent deformation bionic Aircraft, proposes that a kind of assistant deformation is imitative
Raw unmanned vehicle and deformation control method, can be low in the complicated landform such as city, jungle, mountain region and the random sinuous flow of small space
Maneuverability stabilized flight in empty ultralow Altitude.
In order to achieve the above object, the present invention is adopted the following technical scheme that：
A kind of assistant deforms bionical unmanned vehicle, using bionical assistant blended wing-body all-wing aircraft aerodynamic arrangement structure, mainly
By propeller 1, fixed blended wing-body wing panel 2, flexible wing panel 3, folding assistant controlling organization 4, bionical assistant 5 and stabilizing fin wing panel
6 are constituted；The propeller 1 is mechanically connected with fixed blended wing-body wing panel 2 by rotary shaft；Flexible wing panel 3 passes through mechanical slide rail 7
Nest into fixed blended wing-body wing panel 2；Assistant controlling organization 4 is folded to be fixed on by leading edge articulated joint 11, assistant leading edge 12, one end
The prestretching spring 13 of other end connection assistant leading edge 12 and the flexible outer end of wing panel 3 are hinged for realizing angle folding on mechanical slide rail 7
The articulation joint 14 of degree is constituted；Assistant controlling organization 4 is folded to be connected by leading edge articulated joint 11 with bionical assistant 5；Rear-fin stabilizer
Section 6 is arranged in the fixed afterbody of blended wing-body wing panel 2, and there is provided extra course-stability and maneuvering capability.
The assistant piece 9 that the bionical assistant 5 is made up of multi-disc nylon film material is constituted, and carbon is embedded in every assistant piece 9
The structural bearing intensity of the increase assistant of fibrous composite bar 10 piece 9；It is overlapped between every assistant piece 9, in root by triumphant
Husband's drawstring 8 is together in series；The bionical outermost assistant piece 9 of assistant 5 and the assistant leading edge 12 for folding assistant controlling organization 4 are affixed, its
Remaining each assistant piece 9 is hinged with folding assistant controlling organization 4 in assistant leading edge 12 by leading edge articulated joint 11, enables assistant piece 9
Rotated around each self-corresponding leading edge articulated joint 11；Kev drawstring 8 is in tensioned state when every assistant piece 9 deploys, every for limiting
Relative position after the expansion of piece assistant piece 9；When bionical assistant 5 deploys screen resilience is provided by the pretension of prestretching spring 13.
It is preferred that, the assistant piece 9 that the bionical assistant 5 is made up of 4 to 12 nylon film materials is constituted.
A kind of described assistant deforms the deformation control method of bionical unmanned vehicle, by wing panel 3, the bionical assistant 5 of stretching
Drive system is deformed with the combined type multi freedom degree mechanical for folding the composition of assistant controlling organization 4, for realizing the symmetrical of aircraft
With asymmetric two kinds of deformation patterns；Flexible wing panel 3 nests into fixed blended wing-body wing panel 2 by mechanical slide rail 7, by fixed-wing body
The flexible wing panel 3 of step-servo motor driving in fusion wing panel 2 horizontally slips along mechanical slide rail 7 realizes stretching for flexible wing panel 3
Compression deformation；The respective step-servo motor of the secondary bionical assistant 5 of aircraft or so two uses synchronous working pattern, it is ensured that left and right two is secondary
The dilatation that the bionical respective flexible wing panel 3 of assistant 5 is maintained like；Driving force effect of the assistant leading edge 12 in articulation joint 14
The folded deformation of the bionical multi-angle of assistant 5 is realized in bending before and after lower；The respective articulation joint of the secondary bionical assistant 5 of aircraft or so two
14 use autonomous working mode so that the secondary bionical assistant 5 in left and right two can realize symmetrical and asymmetric two kinds of deformations of multi-angle
Pattern.
It is preferred that, bionical assistant 5 folded deformation between 0 ° -60 °.
The present invention is compared to the prior art compared with possessing following advantage：
1st, assistant proposed by the invention deforms bionical unmanned vehicle, using stretching and bionical assistant for conventional airfoil
The combined deformation technology of folding imitates wing form during flying bird gliding, can significant increase low latitude extreme low-altitude unmanned plane wind resistance
Ability and maneuverability.The bionical unmanned vehicle configuration of assistant deformation proposed by the invention can not only dramatically increase unmanned plane and exist
Flight stability in random sinuous flow, adapts to city, mountain region and jungle near-earth sinuous flow low-latitude flying environment that wind speed change is exceedingly fast,
The pneumatic efficiency under different flight state can also be lifted from main modulation wing shapes according to wind direction.It is of the present invention imitative
Raw assistant asymmetrical deformation configuration can produce the rolling moment coefficient far above conventional fixed-wing or multi-rotor aerocraft, so that
The present invention has super maneuver rolling flight ability.
2nd, the normal procedure intelligent morphing aircraft based on the pneumatic face design concept design of continuous and derivable, generally uses piezoelectricity or shape
The intellectual materials such as shape memory alloys realize wing Deformation control by designing complicated drive mechanism.The deflection of wing structure,
Pneumatic efficiency and quality limitation propose great challenge to existing intellectual material performance, and still do not solve cost height, structure
The complicated, problem that deflection is small and control effect is undesirable.The present invention by introducing discontinuous discrete Deformable structure-design technique,
Using existing conventional nylon thin-film material and lightweight carbon fiber composite structure, wing when can simulate flying bird fly has been invented big
The multi freedom degree mechanical formula combined deformation driving structure of varying shapes, had both met function bionicses requirement and the plumage of assistant Deformation control
Wing structure intensity requirement, while assistant distressed structure realizes that simple, manipulation is convenient, deform flexibly and deflection is big.
Brief description of the drawings
Fig. 1 is overall configuration figure of the present invention.
Fig. 2 is assistant distressed structure schematic diagram of the present invention.
Fig. 3 is typical variant configuration schematic diagram of the present invention, and wherein Fig. 3 (a) is that assistant deploys symmetry status entirely, and Fig. 3 (b) is
Assistant folds symmetry status entirely, and Fig. 3 (c) is the asymmetric semi-collapsed condition of assistant.
Embodiment
With reference to the accompanying drawings and detailed description, the present invention is described in further detail.
The present invention is made up of using blended wing-body Flying-wing configuration scheme 6 big functional parts.As shown in figure 1, including spiral shell
Revolve oar 1, fixed blended wing-body wing panel 2, flexible wing panel 3, folding assistant controlling organization 4, bionical assistant 5 and stabilizing fin wing panel 6 six
Big functional part is constituted.Fixed blended wing-body wing panel 2 is mainly used in loading in addition to the main body load-carrying construction as whole aircraft
The electromechanical equipments such as dynamical system, flight control system, distressed structure servo drive motor and payload.Propeller 1 is with fixing
Blended wing-body wing panel 2 is mechanically connected on head by rotary shaft, and providing rotary driving force control propeller 1 by direct current generator rotates
Pulling force is produced, so as to provide flying power for whole aircraft.Flexible wing panel 3 stepper motor in fixed blended wing-body wing panel 2
Extensible and contraction distortion under driving, so that quickly changing wing area provides different air forces.Bionical assistant 5 is with folding
Assistant controlling organization 4 is connected, and folds assistant controlling organization 4 by adjusting the folding angles of assistant leading edge 12 come control biomimetics assistant
The folded state of 5 assistant piece 9, so as to realize that different assistant aerodynamic configurations produce different air forces and rolling moment.For
Further increase Flying-wing shipping-direction stability, stabilizing fin wing panel 6 is arranged in fixed blended wing-body wing panel 2 afterbody, can be with
Extra course-stability and maneuvering capability are provided.
Bionical assistant 5 is symmetrical and assymmetrical deformation the core functional components of present invention simulation birds wing.Such as Fig. 2 institutes
Show, bionical assistant 5 by nylon film material pre-folded form be used for simulate flying bird feather 4-12 pieces (but be not limited only to this number
Amount) assistant piece 9 combines.In order to increase the structural bearing intensity of every assistant piece 9, carbon fiber is embedded in every assistant piece
Composite bar 10.Per a piece of assistant there is overlapped part to prevent air-flow from penetrating bionical assistant 5.Whole bionical assistant 5 by
Each assistant piece is together in series by Kev drawstring 8 in root.The bionical outermost assistant piece 9 of assistant 5 is with folding assistant controlling organization 4
Assistant leading edge 12 is affixed, and remaining each assistant piece 9 passes through leading edge articulated joint 11 with folding assistant controlling organization 4 in assistant leading edge 12
It is hinged.Bionical assistant 5 is made as unfoldable shape in advance under natural original state, and Kev drawstring 8 is in tensioned state during expansion, for limiting
Relative position after every expansion of assistant piece 9 of system.And the bionical leading edge of assistant 5 is by the prestretching spring being fixed in flexible wing panel 3
13 effect and keep horizontal level.On the one hand the pulling force of prestretching spring 13 can eliminate the gap between mechanical structure, another
Aspect can resist expansion assistant in state of flight and receive air-flow resistance and stability when ensureing that bionical assistant 5 deploys backward.
Therefore in the present invention, by the pretension offer screen resilience of prestretching spring 13 when bionical assistant 5 deploys, and the relative position deployed
Limited by Kev drawstring 8.When needing bionical assistant 5 to fold, assistant leading edge 12 is under the driving force effect of articulation joint 14
The folded deformation that (interval can be not limited only to) between fast and convenient realize bionical assistant 50 ° -60 ° is bent backward.
Assistant malformation operating mechanism is one of core technology of the present invention.The assistant of assistant deformation bionic Aircraft is stretched
Contracting and folded deformation multiple degrees of freedom drive system by stretch wing panel 3, outside 5 groups of folding assistant controlling organization 4 and bionical assistant
Into as shown in Figure 2.The contour dimension of flexible wing panel 3 is slightly smaller than fixed blended wing-body wing panel 2, is nested into by mechanical slide rail 7
Fixed blended wing-body wing panel 2 is assembled together with it, and the servomotor inside fixed blended wing-body wing panel 2 drives telescopic wing
The elongation of section 3 and the dilatation for shrinking the flexible wing panel 3 of realization.Assistant deformation bionic Aircraft or so the two slave wings are respectively equipped with one
Individual step-servo motor, the two step-servo motors use synchronous working pattern, it is ensured that the flexible wing panel 3 of the slave wing of left and right two
The dilatation amount maintained like.The dilatation for driving flexible wing panel 3 different by servomotor can just realize whole fly
Row device wing area is significantly changed, so as to produce different air forces.Driving force of the assistant leading edge 12 in articulation joint 14
Before and after effect is lower bending realize bionical assistant 5 between 0 ° -60 ° (but being not limited to the angular interval) folded deformation；Aircraft
The respective articulation joint 14 of the aftershaft wing of left and right two uses autonomous working mode so that the secondary bionical assistant 5 in left and right two can realize 0 °-
Two kinds of deformation patterns of symmetrical and asymmetric folding of (but being not limited to the angular interval) between 60 °.Accompanying drawing 3 (a) and Fig. 3 (b) are
Full expansion and full folding two states under the bionical symmetric deformation pattern of assistant 5, correspond respectively to 0 ° and 60 ° of bionical assistant 5
Angle folding；Symmetrical full deployed condition is used for high-lift cruise section and flown, symmetrical folded state entirely then subtracting due to wing area
It is small to bring the reduction of air drag and realize rapid flight.Accompanying drawing 3 (c) is half of bionical assistant 5 under antisymmetry folding mode
The bionical assistant 5 of folded state, the wherein left side folds 60 °, and the bionical assistant 5 in the right folds 0 °；The asymmetric assistant area in the left and right sides
Different size of normal force is produced to produce rolling moment.
Claims (5)
1. a kind of assistant deforms bionical unmanned vehicle, it is characterised in that：Using bionical assistant blended wing-body all-wing aircraft aerodynamic arrangement
Structure, mainly by propeller 1, fixed blended wing-body wing panel 2, flexible wing panel 3, folding assistant controlling organization 4, the and of bionical assistant 5
Stabilizing fin wing panel 6 is constituted；The propeller 1 is mechanically connected with fixed blended wing-body wing panel 2 by rotary shaft；Flexible wing panel 3 is led to
Cross mechanical slide rail 7 and nest into fixed blended wing-body wing panel 2；Assistant controlling organization 4 is folded by leading edge articulated joint 11, assistant leading edge
12nd, one end is fixed on the prestretching spring 13 of other end connection assistant leading edge 12 on mechanical slide rail 7, is hinged with the flexible outer end of wing panel 3
For realizing that the articulation joint 14 of folding angles is constituted；Fold assistant controlling organization 4 and pass through leading edge articulated joint 11 with bionical assistant 5
Connection；Stabilizing fin wing panel 6 is arranged in the fixed afterbody of blended wing-body wing panel 2, and there is provided extra course-stability and maneuvering capability.
2. a kind of assistant according to claim 1 deforms bionical unmanned vehicle, it is characterised in that：The bionical assistant 5
The assistant piece 9 being made up of multi-disc nylon film material is constituted, and carbon fibre composite bar 10 is embedded in every assistant piece 9 increases plumage
The structural bearing intensity of fin 9；It is overlapped between every assistant piece 9, it is together in series in root by Kev drawstring 8；Bionical plumage
The outermost assistant piece 9 of the wing 5 and the assistant leading edge 12 for folding assistant controlling organization 4 are affixed, and remaining each assistant piece 9 is with folding assistant
Controlling organization 4 is hinged in assistant leading edge 12 by leading edge articulated joint 11, enables assistant piece 9 around each self-corresponding leading edge articulated joint 11
Rotate；Kev drawstring 8 is in tensioned state when every assistant piece 9 deploys, for limiting the relative position after every assistant piece 9 deploys
Put；When bionical assistant 5 deploys screen resilience is provided by the pretension of prestretching spring 13.
3. a kind of assistant described in claim 1 deforms bionical unmanned vehicle, it is characterised in that：The bionical assistant 5 by 4 to
The assistant piece 9 that 12 nylon film materials are made is constituted.
4. a kind of assistant described in claim 1 deforms the deformation control method of bionical unmanned vehicle, it is characterised in that：By stretching
Contracting wing panel 3, bionical assistant 5 and the combined type multi freedom degree mechanical deformation drive system for folding the composition of assistant controlling organization 4, are used for
Realize symmetrical and asymmetric two kinds of deformation patterns of aircraft；Flexible wing panel 3 nests into fixed blended wing-body by mechanical slide rail 7
Wing panel 2, the step-servo motor in fixed blended wing-body wing panel 2 drives flexible wing panel 3 to be horizontally slipped reality along mechanical slide rail 7
The dilatation for wing panel 3 of now stretching；The respective step-servo motor of the secondary bionical assistant 5 of aircraft or so two is using synchronous working mould
Formula, it is ensured that the dilatation that the secondary bionical respective flexible wing panel 3 of assistant 5 in left and right two is maintained like；Assistant leading edge 12 is being hinged pass
The folded deformation of the bionical multi-angle of assistant 5 is realized in bending before and after under the driving force effect of section 14；The secondary bionical plumage of aircraft or so two
The respective articulation joint 14 of the wing 5 uses autonomous working mode so that the secondary bionical assistant 5 in left and right two can realize the symmetrical of multi-angle
With asymmetric two kinds of deformation patterns.
5. deformation control method according to claim 4, it is characterised in that：The bionical assistant 5 is folded between 0 ° -60 °
Deformation.
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107472489A (en) * | 2017-08-29 | 2017-12-15 | 北京航空航天大学 | A kind of anti-interference flow control device |
| CN108298077A (en) * | 2018-01-24 | 2018-07-20 | 浙江工业职业技术学院 | A kind of imitative bird flapping wing device of double ball-joint multi-direction movements |
| CN108557054A (en) * | 2018-04-20 | 2018-09-21 | 大连理工大学 | Suitable for high aspect ratio wing flight control and control method |
| CN108820185A (en) * | 2018-06-13 | 2018-11-16 | 西北工业大学深圳研究院 | Deformation rotor aircraft energy management method based on dynamic fly |
| CN108891591A (en) * | 2018-07-02 | 2018-11-27 | 北京电子工程总体研究所 | A kind of aircraft |
| CN109334949A (en) * | 2018-08-28 | 2019-02-15 | 南京航空航天大学 | A kind of morphing can be changed the shape control system and method for camber trailing edge formations |
| WO2019071676A1 (en) * | 2017-10-10 | 2019-04-18 | 山东大学 | Opening-closing type wing structure of ornithopter based on hybrid drive |
| CN110667824A (en) * | 2019-09-30 | 2020-01-10 | 西北工业大学 | Rotatable bionical tailplane of variable area |
| CN112407273A (en) * | 2020-11-25 | 2021-02-26 | 浙江工业大学 | Bird prey variant-imitating wing |
| CN112888628A (en) * | 2018-09-07 | 2021-06-01 | 弗莱吉尔迪公司 | Machine bird |
| WO2021109312A1 (en) * | 2019-12-04 | 2021-06-10 | 中国直升机设计研究所 | Morphing aircraft |
| CN112985674A (en) * | 2021-01-26 | 2021-06-18 | 河北汉光重工有限责任公司 | Rolling torque measuring method of folding missile wing combination |
| CN112985675A (en) * | 2021-01-26 | 2021-06-18 | 河北汉光重工有限责任公司 | Folding missile wing torque measuring method |
| CN113173247A (en) * | 2021-05-07 | 2021-07-27 | 北京航空航天大学 | Bionic folding unmanned aerial vehicle using flexible airfoil |
| CN115027667A (en) * | 2022-07-04 | 2022-09-09 | 哈尔滨工业大学 | Bionic deformable wing unmanned aerial vehicle capable of vertically taking off and landing and flight attitude control method |
| CN115320826A (en) * | 2022-10-14 | 2022-11-11 | 成都航空职业技术学院 | Bionic feather and bionic aircraft adopting same |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107472489A (en) * | 2017-08-29 | 2017-12-15 | 北京航空航天大学 | A kind of anti-interference flow control device |
| WO2019071676A1 (en) * | 2017-10-10 | 2019-04-18 | 山东大学 | Opening-closing type wing structure of ornithopter based on hybrid drive |
| CN108298077A (en) * | 2018-01-24 | 2018-07-20 | 浙江工业职业技术学院 | A kind of imitative bird flapping wing device of double ball-joint multi-direction movements |
| CN108298077B (en) * | 2018-01-24 | 2021-07-09 | 浙江工业职业技术学院 | Double-ball joint compound motion type bird-like flapping wing device |
| CN108557054A (en) * | 2018-04-20 | 2018-09-21 | 大连理工大学 | Suitable for high aspect ratio wing flight control and control method |
| CN108557054B (en) * | 2018-04-20 | 2021-03-26 | 大连理工大学 | Control method of control system suitable for high-aspect-ratio wing aircraft |
| CN108820185A (en) * | 2018-06-13 | 2018-11-16 | 西北工业大学深圳研究院 | Deformation rotor aircraft energy management method based on dynamic fly |
| CN108891591A (en) * | 2018-07-02 | 2018-11-27 | 北京电子工程总体研究所 | A kind of aircraft |
| CN109334949A (en) * | 2018-08-28 | 2019-02-15 | 南京航空航天大学 | A kind of morphing can be changed the shape control system and method for camber trailing edge formations |
| CN109334949B (en) * | 2018-08-28 | 2021-11-23 | 南京航空航天大学 | Shape control system and method for variable camber trailing edge structure of morphing wing |
| CN112888628A (en) * | 2018-09-07 | 2021-06-01 | 弗莱吉尔迪公司 | Machine bird |
| CN110667824A (en) * | 2019-09-30 | 2020-01-10 | 西北工业大学 | Rotatable bionical tailplane of variable area |
| WO2021109312A1 (en) * | 2019-12-04 | 2021-06-10 | 中国直升机设计研究所 | Morphing aircraft |
| CN112407273A (en) * | 2020-11-25 | 2021-02-26 | 浙江工业大学 | Bird prey variant-imitating wing |
| CN112985674A (en) * | 2021-01-26 | 2021-06-18 | 河北汉光重工有限责任公司 | Rolling torque measuring method of folding missile wing combination |
| CN112985675A (en) * | 2021-01-26 | 2021-06-18 | 河北汉光重工有限责任公司 | Folding missile wing torque measuring method |
| CN113173247A (en) * | 2021-05-07 | 2021-07-27 | 北京航空航天大学 | Bionic folding unmanned aerial vehicle using flexible airfoil |
| CN113173247B (en) * | 2021-05-07 | 2022-12-09 | 北京航空航天大学 | Bionic folding unmanned aerial vehicle using flexible airfoil |
| CN115027667A (en) * | 2022-07-04 | 2022-09-09 | 哈尔滨工业大学 | Bionic deformable wing unmanned aerial vehicle capable of vertically taking off and landing and flight attitude control method |
| CN115320826A (en) * | 2022-10-14 | 2022-11-11 | 成都航空职业技术学院 | Bionic feather and bionic aircraft adopting same |
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