CN107200127A - Many flapping wing aircrafts and its flight control method - Google Patents

Many flapping wing aircrafts and its flight control method Download PDF

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Publication number
CN107200127A
CN107200127A CN201710392979.5A CN201710392979A CN107200127A CN 107200127 A CN107200127 A CN 107200127A CN 201710392979 A CN201710392979 A CN 201710392979A CN 107200127 A CN107200127 A CN 107200127A
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China
Prior art keywords
wing
hinge
flapping wing
flapping
coil
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CN201710392979.5A
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CN107200127B (en
Inventor
冯卓群
郑祥明
蒋进
徐哲
戚兴江
马春瑶
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C33/00Ornithopters
    • B64C33/02Wings; Actuating mechanisms therefor

Abstract

The invention provides a kind of many flapping wing aircrafts and its flight control method, many flapping wing aircrafts include the flapping wing mechanism of frame and rack-mounted four nested structures identical independence.Undercarriage, when the flapping wing aircraft is parked in the horizontal plane, the bottom surface of frame and plane-parallel are carried below described frame.Four sets of described flapping wing mechanisms it is symmetrical and it is front and rear be symmetrically dispersed on four angles of frame, often covering flapping wing mechanism and including wing, mover, similar I-shaped soft iron core, coil, edge has sheave, rubber ring.The present invention directly drives wing to swing using oscillating motor, there is no transmission mechanism between oscillating motor and wing, the flight of flapping wing aircraft is controlled by changing the time for the voltage being applied on oscillating motor the two poles of the earth, is conducive to improving wing hunting frequency, increases lift.Flapping wing mechanism pendulum intensity is high, and long lifespan, manufacturing cost is low.

Description

Many flapping wing aircrafts and its flight control method
Technical field
The present invention relates to aircraft field, specifically a kind of many flapping wing aircrafts and its flight control method.
Background technology
In nature, the flapping flight mode of part birds and insect can realize hovering, with very high mobility and Very low energy consumption.Artificial flapping wing aircraft has very wide application prospect at military, civilian aspect.The U.S. have developed " honeybee Bird " micro flapping wing air vehicle, achieves breakthrough in terms of artificial flapping wing aircraft.
In the prior art, there is problems with artificial flapping wing aircraft:
1. driving wing to swing using electric rotating machine, transmission mechanism is needed between electric rotating machine and wing by the rotation of electric rotating machine The swing of wing is converted into, the weight, energy consumption, noise of flapping-wing aircraft is added.
2. only relying on two wings of swing to control the flight of flapping wing aircraft, flapping wing mechanism is complicated, wing hunting frequency It is difficult to improve, lift is small.
The content of the invention
The present invention in order to solve problem of the prior art there is provided a kind of many flapping wing aircrafts and its flight control method, Directly drive wing to swing using oscillating motor, there is no transmission mechanism between oscillating motor and wing.Pendulum is applied to by changing The time of voltage on dynamic motor the two poles of the earth controls the flight of flapping wing aircraft, is conducive to improving wing hunting frequency, increase rises Power.Flapping wing mechanism intensity is high, and long lifespan, manufacturing cost is low.
Many flapping wing aircrafts that the present invention is provided, including frame and rack-mounted four nested structures identical independence Flapping wing mechanism.Undercarriage, when the flapping wing aircraft is parked in the horizontal plane, the bottom surface of frame and water are carried below described frame Plane is parallel.Four sets of described flapping wing mechanisms it is symmetrical and it is front and rear be symmetrically dispersed on four angles of frame, often cover flapping wing Mechanism, which includes wing, mover, similar I-shaped soft iron core, coil, edge, sheave, rubber ring.Described wing passes through One hinge is connected with described mover, and first axle axis is parallel with the bottom surface of frame.Mover is connected by second hinge and frame Connect, second hinge axis and frame plane perpendicular, mover take 90 ° to 180 °, mover around the maximum magnitude that second hinge is swung The projection of the upper restricted wing angle of attack of setting, projection limitation wing can only be put around first axle in a fixed scope Dynamic, the range size takes 60 ° to 120 °, during flapping wing aircraft flight, and wing can be within the range around first axle in air Swung in the presence of power and inertia force.When flapping wing aircraft hovers, wing surrounds the second hinge clockwise oscillation stage and inverse The hour hands minimum positive incidence that wing reaches recovery phase is in the same size.Annular permeability magnetic material, wherein annulus are fixed with mover The center of circle be fixed with two pieces of circular arc permanent magnets, the wherein circle of circular arc on second hinge axis, on the inside of annular permeability magnetic material The heart is on second hinge axis, and the mode that circular arc permanent magnet magnetizes magnetizes for radiation, one piece of circular arc permanent magnet N pole in inner side, Another piece of circular arc permanent magnet S pole is in inner side.Mover surrounds described similar I-shaped soft iron core, similar I-shaped soft iron core Outside be circular arc, the wherein center of circle of circular arc has one to allow second on second hinge axis in the middle of similar I-shaped soft iron core The through hole that hinge is passed through.When flapping wing aircraft is static, the angular bisector of the central angle of the circular arc of circular arc permanent magnet and similar work The angular bisector of the central angle of circular arc on the outside of font soft iron core is vertical.Described coil is wound on right on similar I-shaped soft iron core The vertical part of I-shaped one point is answered, coil is connected with power supply, and similar I-shaped soft iron core is fixed in frame.When flapping wing aircraft is static Flapping wing aircraft is overlooked, when applying forward voltage to coil, the magnetic field force that mover is subject to makes mover obtain clockwise power Square;When applying backward voltage to coil, the magnetic field force that mover is subject to makes mover obtain anticlockwise torque.Described in one Edge has sheave to be connected by third hinge with mover, third hinge axis and frame plane perpendicular, and an edge has sheave to lead to Cross the 4th hinge to be connected with frame, the 4th hinge axes and frame plane perpendicular.Described rubber ring, which is tightened in two edges, to be had Between sheave, the second hinge axis of a set of flapping wing mechanism, third hinge axis, the 4th hinge axis when making flapping wing aircraft static Line is in a plane, and when wing and mover are swung away from equilbrium position around second hinge, rubber ring provides restoring force.When When flapping wing aircraft is static, the distance of first axle axis to flapping wing aircraft vertical shaft is more than the 10% of frame length, and left front Line of shortest length section between the first axle axis and flapping wing aircraft vertical shaft of square flapping wing mechanism is on the right side of flapping wing aircraft vertical shaft.To line The logical square wave alternating-current electricity of circle, wing can be swung around second hinge, in a cycle most it is long apply voltage time take the 40% of the cycle to 100%, the frequency of alternating current takes wing to swing the 90% to 110% of intrinsic frequency, the line to four sets of flapping wing mechanisms around second hinge The logical ac frequency of circle is consistent.When the coil to left front and right back flapping wing mechanism applies forward voltage, to left back Apply backward voltage with the coil of right front flapping wing mechanism or the coil to left back and right front flapping wing mechanism does not apply voltage; When the coil to left front and right back flapping wing mechanism applies backward voltage, to left back and the coil of right front flapping wing mechanism Apply forward voltage or the coil to left back and right front flapping wing mechanism does not apply voltage;When to left back and right front flapping wing When the coil of mechanism applies forward voltage, the coil to left front and right back flapping wing mechanism applies backward voltage or not to left front The coil of side and right back flapping wing mechanism applies voltage;When the coil to left back and right front flapping wing mechanism applies backward voltage When, the coil to left front and right back flapping wing mechanism applies forward voltage or not to left front and the line of right back flapping wing mechanism Circle applies voltage.
Present invention also offers a kind of flight control method of many flapping wing aircrafts, including procedure below:
Yawing rotation:When wing around what first axle was swung most of in wing leaves balance position around what second hinge was swung Stage completion is put, the sub-fraction that wing surrounds first axle swing returns to equilbrium position in wing around what second hinge was swung When stage completes, wing leaves the average front face area of equilbrium position stage wing greatly around what second hinge was swung, and wing is surrounded What second hinge was swung return to, and the average front face area of equilbrium position stage wing is small, during a set of flapping wing mechanism motion, except producing Direction is that outside the pulling force of second hinge axis direction, it is the angular bisector side that wing surrounds second hinge angle of oscillation also to produce direction To pulling force, wherein angle of oscillation takes the angle of outward opening.Increase and apply voltage to the coil of left front and right back flapping wing mechanism Time, reduce and apply the alive time to the coil of left back and right front flapping wing mechanism, make left front and right back wing The amplitude swung around second hinge is big, makes left back and right front wing small around the amplitude that second hinge is swung, and flapping wing flies Row device obtains the torque to left drift, to left drift;Increase and apply alive to the coil of left back and right front flapping wing mechanism Time, reduce and apply the alive time to the coil of left front and right back flapping wing mechanism, enclose left back and right front wing The amplitude swung around second hinge is big, makes left front and right back wing small around the amplitude that second hinge is swung, flapping flight Device obtains the torque gone off course to the right, goes off course to the right.
Move forward and backward:Increase and apply the alive time to the coil of the two sets of flapping wing mechanisms in rear, reduce to front two sets and flutter The coil of wing mechanism applies the alive time, makes two, rear wing big around the amplitude that second hinge is swung, makes two, front Wing is small around the amplitude that second hinge is swung, and flapping wing aircraft turns forward, and travels forward;Increase and give two sets of front flapping-wing aircraft The coil of structure applies the alive time, reduces and applies the alive time to the coil of the two sets of flapping wing mechanisms in rear, makes two, front Wing is big around the amplitude that second hinge is swung, and makes two, rear wing small around the amplitude that second hinge is swung, flapping flight Device is tilted backwards, and is moved backward.
Lateral movement:Increase and apply the alive time to the coil of the two sets of flapping wing mechanisms in right side, reduce to left side two sets and flutter The coil of wing mechanism applies the alive time, makes two, right side wing big around the amplitude that second hinge is swung, makes two, left side Wing is small around the amplitude that second hinge is swung, and flapping wing aircraft is tilted to the left, to left movement;Increase and give two sets of left side flapping-wing aircraft The coil of structure applies the alive time, reduces and applies the alive time to the coil of the two sets of flapping wing mechanisms in right side, makes two, left side Wing is big around the amplitude that second hinge is swung, and makes two, right side wing small around the amplitude that second hinge is swung, flapping flight Device is tilted to the right, and moves right.
Vertical movement:Increase and apply the alive time to the coil of four sets of flapping wing mechanisms, make what four sets of flapping wing mechanisms were produced Lift is more than the gravity of flapping wing aircraft, and flapping wing aircraft rises;Reduce when applying alive to the coil of four sets of flapping wing mechanisms Between, the lift for producing four sets of flapping wing mechanisms is less than the gravity of flapping wing aircraft, and flapping wing aircraft declines.
Beneficial effect of the present invention is:
1st, directly drive wing to swing using oscillating motor, there is no transmission mechanism between oscillating motor and wing, advantageously reduce The weight of flapping wing aircraft, energy consumption, noise.
2nd, there is a similar I-shaped soft iron core in oscillating motor, make oscillating motor leakage field few, efficiency high, swing angle Greatly, the torque of generation is big.
3rd, the flight of flapping wing aircraft is controlled by changing the time for the voltage being applied on oscillating motor the two poles of the earth, be not required to Want complicated controlling organization to control the flight of flapping wing aircraft, be conducive to improving wing hunting frequency, increase lift.
4th, flapping wing mechanism intensity is high, and long lifespan, manufacturing cost is low.
Brief description of the drawings
Fig. 1 parks top view when in the horizontal plane for the present invention.
Fig. 2 is left front of the present invention and right back wing around second hinge clockwise oscillation to maximum angle and left back Second hinge counter-clockwise swing is surrounded to the top view of maximum angle with right front wing.
Fig. 3 is left front of the present invention and right back wing around second hinge counter-clockwise swing to maximum angle and left back Second hinge clockwise oscillation is surrounded to the top view of maximum angle with right front wing.
Fig. 4 is left front of the present invention and right back wing around second hinge counter-clockwise swing to maximum angle and left back Second hinge clockwise oscillation is surrounded to the axonometric drawing of maximum angle with right front wing.
Fig. 5 removes wing, mover, edge for the present invention the top view of sheave, rubber ring.
Fig. 6 is the axonometric drawing of mover of the present invention.
Fig. 7 is similar I-shaped soft iron core, coil, the annular magnetic conduction material of a set of flapping wing mechanism when flapping wing aircraft is static Material, the top view of circular arc permanent magnet.
Fig. 8 is the axonometric drawing of frame of the present invention.
Fig. 9 is the axonometric drawing of wing of the present invention.
Figure 10 is the similar I-shaped soft iron core of the present invention, the axonometric drawing of coil.
Figure 11 is the axonometric drawing that there is sheave at edge of the present invention.
Figure 12 is to surround second hinge hunting range to the wing of four sets of flapping wing mechanisms during left drift.
Figure 13 applies alive ripple for the coil into a cycle during left drift to left front and right back flapping wing mechanism Shape.
Figure 14 applies alive ripple for the coil into a cycle during left drift to left back and right front flapping wing mechanism Shape.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
Overall structure of the present invention is as shown in figure 1, long dotted line is the first axle axis of left front flapping wing mechanism, and short dash line is Line of shortest length section between the first axle axis and flapping wing aircraft vertical shaft of left front flapping wing mechanism, concrete structure includes frame 1(Such as Shown in Fig. 8), the lower section of frame 1 carries undercarriage, when the flapping wing aircraft is parked in the horizontal plane, the bottom surface of frame 1 and horizontal plane It is parallel.Fig. 2 be left front of the present invention and right back wing around second hinge clockwise oscillation to maximum angle and left back with Top view of the right front wing around second hinge counter-clockwise swing to maximum angle.Fig. 3 is left front of the present invention and right back Wing is put clockwise around second hinge counter-clockwise swing to maximum angle and left back and right front wing around second hinge Move the top view of maximum angle.Fig. 4 is that left front of the present invention and right back wing surround second hinge counter-clockwise swing to most Wide-angle and left back and right front wing surround second hinge clockwise oscillation to the axonometric drawing of maximum angle.
The flapping wing mechanism of four nested structure identical independences is installed, four sets of flapping wing mechanisms are symmetrical and front and rear in frame 1 It is symmetrically dispersed on four angles of frame 1, often covering flapping wing mechanism includes wing 2(As shown in Figure 9), mover 3(Such as Fig. 6 institutes Show), similar I-shaped soft iron core 4(As shown in Figure 10), coil 5, edge have sheave 6(As shown in figure 11)With rubber ring 7, its In, described wing 2 is connected by first axle with described mover 3, and first axle axis is parallel with the bottom surface of frame 1, is moved Son 3 is connected by second hinge with frame 1, second hinge axis and frame plane perpendicular, and annular magnetic conduction is fixed with mover 3 The center of circle of material 9, wherein annulus is on second hinge axis, and the inner side of annular permeability magnetic material 9 is fixed with two blocks of circular arc permanent magnetism The center of circle of body 10, wherein circular arc is on second hinge axis, and the mode that circular arc permanent magnet magnetizes magnetizes for radiation, one piece of circular arc Permanent magnet N poles are in inner side, and another piece of circular arc permanent magnet S pole is in inner side.Fig. 5 removes wing, mover, edge for the present invention groove Wheel, the top view of rubber ring.Described similar I-shaped soft iron core 4 is fixed in frame 1 to be surrounded by mover 3(As shown in Figure 7), The outside of similar I-shaped soft iron core 4 is circular arc, and the wherein center of circle of circular arc is on second hinge axis, similar I-shaped soft iron core There is a through hole for allowing second hinge to pass through in the middle of 4;When flapping wing aircraft is static, the central angle of the circular arc of circular arc permanent magnet 10 Angular bisector it is vertical with the angular bisector of the central angle of the circular arc in the similar outside of I-shaped soft iron core 4;Described similar I-shaped Correspondence " work " word one vertical part point is wound with coil 5 on shape soft iron core 4, and coil 5 is connected with power supply.Bowed when flapping wing aircraft is static Depending on flapping wing aircraft, when applying forward voltage to coil 5, the magnetic field force that mover 3 is subject to makes mover 3 obtain clockwise power Square;When applying backward voltage to coil 5, the magnetic field force that mover 3 is subject to makes mover 3 obtain anticlockwise torque.One side Edge has sheave 6 to be connected by third hinge with mover, third hinge axis and frame plane perpendicular, and an edge has sheave 6 to lead to Cross the 4th and be hinged to and be connected with frame, the 4th hinge axes and frame plane perpendicular;Described rubber ring 7 is tightened in two edges Have between sheave 6, the second hinge axis of a set of flapping wing mechanism, third hinge axis, the 4th hinge when making flapping wing aircraft static Chain axis is in a plane, and when wing 2 and mover 3 are swung away from equilbrium position around second hinge, rubber ring 7 is provided back Multiple power;When flapping wing aircraft is static, the distance of first axle axis to flapping wing aircraft vertical shaft for frame length 10% with On, and between the flapping wing mechanism first axle axis and flapping wing aircraft vertical shaft of left front line of shortest length section in flapping wing aircraft vertical shaft Right side, leads to square wave alternating-current electricity to coil, and wing can be swung around second hinge, and most long application voltage time takes week in a cycle The 40% to 100% of phase, the frequency of alternating current takes wing to swing the 90% to 110% of intrinsic frequency, four sets of flapping wings around second hinge The logical ac frequency of the coil of mechanism is consistent.
Mover takes 90 ° to 180 ° around the maximum magnitude that second hinge is swung, and the restricted wing angle of attack is set on mover Projection 8, projection 8 limits wing and can only swung around first axle in a fixed scope, and the range size takes 60 ° extremely 120 °, during flapping wing aircraft flight, wing can be within the range around first axle in the presence of air force and inertia force Swing, when flapping wing aircraft hovers, wing reaches around second hinge clockwise oscillation stage and counter-clockwise swing stage wing Minimum positive incidence it is in the same size.
Present invention also offers a kind of flight control method of many flapping wing aircrafts, including procedure below:
Yawing rotation:When wing around what first axle was swung most of in wing leaves balance position around what second hinge was swung Stage completion is put, the sub-fraction that wing surrounds first axle swing returns to equilbrium position in wing around what second hinge was swung When stage completes, wing leaves the average front face area of equilbrium position stage wing greatly around what second hinge was swung, and wing is surrounded What second hinge was swung return to, and the average front face area of equilbrium position stage wing is small, during a set of flapping wing mechanism motion, except producing Direction is that outside the pulling force of second hinge axis direction, it is the angular bisector side that wing surrounds second hinge angle of oscillation also to produce direction To pulling force, wherein angle of oscillation takes the angle of outward opening, increases and applies voltage to the coil of left front and right back flapping wing mechanism Time, reduce and apply the alive time to the coil of left back and right front flapping wing mechanism, make left front and right back wing The amplitude swung around second hinge is big, makes left back and right front wing small around the amplitude that second hinge is swung, and flapping wing flies Row device obtains the torque to left drift, to left drift;Increase and apply alive to the coil of left back and right front flapping wing mechanism Time, reduce and apply the alive time to the coil of left front and right back flapping wing mechanism, enclose left back and right front wing The amplitude swung around second hinge is big, makes left front and right back wing small around the amplitude that second hinge is swung, flapping flight Device obtains the torque gone off course to the right, goes off course to the right.
Move forward and backward:Increase and apply the alive time to the coil of the two sets of flapping wing mechanisms in rear, reduce to front two sets and flutter The coil of wing mechanism applies the alive time, makes two, rear wing big around the amplitude that second hinge is swung, makes two, front Wing is small around the amplitude that second hinge is swung, and flapping wing aircraft turns forward, and travels forward;Increase and give two sets of front flapping-wing aircraft The coil of structure applies the alive time, reduces and applies the alive time to the coil of the two sets of flapping wing mechanisms in rear, makes two, front Wing is big around the amplitude that second hinge is swung, and makes two, rear wing small around the amplitude that second hinge is swung, flapping flight Device is tilted backwards, and is moved backward.
Lateral movement:Increase and apply the alive time to the coil of the two sets of flapping wing mechanisms in right side, reduce to left side two sets and flutter The coil of wing mechanism applies the alive time, makes two, right side wing big around the amplitude that second hinge is swung, makes two, left side Wing is small around the amplitude that second hinge is swung, and flapping wing aircraft is tilted to the left, to left movement;Increase and give two sets of left side flapping-wing aircraft The coil of structure applies the alive time, reduces and applies the alive time to the coil of the two sets of flapping wing mechanisms in right side, makes two, left side Wing is big around the amplitude that second hinge is swung, and makes two, right side wing small around the amplitude that second hinge is swung, flapping flight Device is tilted to the right, and moves right.
Vertical movement:Increase and apply the alive time to the coil of four sets of flapping wing mechanisms, make what four sets of flapping wing mechanisms were produced Lift is more than the gravity of flapping wing aircraft, and flapping wing aircraft rises;Reduce when applying alive to the coil of four sets of flapping wing mechanisms Between, the lift for producing four sets of flapping wing mechanisms is less than the gravity of flapping wing aircraft, and flapping wing aircraft declines.
It is as shown in figure 12 around second hinge hunting range to the wing of four sets of flapping wing mechanisms during left drift.
Coil into a cycle during left drift to left front and right back flapping wing mechanism applies alive waveform such as figure Shown in 13, abscissa is the time, and ordinate is voltage, and the longitudinal axis to the time between left-hand broken line is that left front and right back wing enclose Between the second hinge clockwise oscillation stage, two dotted lines time left front and right back wing around second hinge it is counterclockwise Recovery phase.
Coil into a cycle during left drift to left back and right front flapping wing mechanism applies alive waveform such as figure Shown in 14, abscissa is the time, and ordinate is voltage, and the longitudinal axis to the time between left-hand broken line is that left back and right front wing enclose Time between the second hinge counter-clockwise swing stage, two dotted lines is that left back and right front wing surround second hinge up time Pin recovery phase.
Concrete application approach of the present invention is a lot, and described above is only the preferred embodiment of the present invention, it is noted that for For those skilled in the art, under the premise without departing from the principles of the invention, some improvement can also be made, this A little improve also should be regarded as protection scope of the present invention.

Claims (3)

1. a kind of many flapping wing aircrafts, including frame(1)And flapping wing mechanism, frame(1)Lower section carries undercarriage, the flapping flight When device is parked in the horizontal plane, frame(1)Bottom surface and plane-parallel, it is characterised in that:Frame(1)On four nooses are installed The flapping wing mechanism of structure identical independence, four sets of flapping wing mechanisms are symmetrical and front and rear are symmetrically dispersed in frame(1)Four angles On, often covering flapping wing mechanism includes wing(2), mover(3), similar I-shaped soft iron core(4), coil(5), edge have sheave (6)And rubber ring(7), wherein, described wing(2)Pass through first axle and described mover(3)Connection, first axle axis It is parallel with the bottom surface of frame, mover(3)Pass through second hinge and frame(1)Connection, second hinge axis and frame(1)Hang down bottom surface Directly, mover(3)On be fixed with annular permeability magnetic material(9), the wherein center of circle of annulus is on second hinge axis, annular magnetic conduction Material(9)Inner side is fixed with two pieces of circular arc permanent magnets(10), the wherein center of circle of circular arc is on second hinge axis, and circular arc is forever The mode that magnet magnetizes magnetizes for radiation, and one piece of circular arc permanent magnet N pole is in inner side, and another piece of circular arc permanent magnet S pole is in inner side; Described similar I-shaped soft iron core(4)It is fixed on frame(1)On by mover(3)Surround, similar I-shaped soft iron core(4)It is outer Side is circular arc, and the wherein center of circle of circular arc is on second hinge axis, similar I-shaped soft iron core(4)Centre has one to allow the second hinge The through hole that chain is passed through;When flapping wing aircraft is static, circular arc permanent magnet(10)Circular arc central angle angular bisector with it is similar I-shaped soft iron core(4)The angular bisector of the central angle of the circular arc in outside is vertical;Described similar I-shaped soft iron core(4)Shang pair The vertical part of " work " word one point is answered to be wound with coil(5), coil(5)It is connected with power supply;Flapping wing is overlooked when flapping wing aircraft is static to fly Row device, to coil(5)When applying forward voltage, mover(3)The magnetic field force being subject to makes mover(3)Obtain clockwise power Square;To coil(5)When applying backward voltage, mover(3)The magnetic field force being subject to makes mover(3)Obtain anticlockwise torque; There is sheave at one edge(6)It is connected by third hinge with mover, third hinge axis and frame(1)Plane perpendicular, a side Edge has sheave(6)It is connected by the 4th hinge with frame, the 4th hinge axes and frame(1)Plane perpendicular;Described rubber ring (7)Being tightened in two edges has sheave(6)Between, the second hinge axis of a set of flapping wing mechanism when making flapping wing aircraft static, Third hinge axis, the 4th hinge axes work as wing in a plane(2)And mover(3)It is swung away from around second hinge Rubber ring during equilbrium position(7)Restoring force is provided;When flapping wing aircraft is static, first axle axis to flapping wing aircraft vertical shaft Distance be frame(1)Between more than the 10% of length, and the flapping wing mechanism first axle axis and flapping wing aircraft vertical shaft of left front Line of shortest length section on the right side of flapping wing aircraft vertical shaft, give coil lead to square wave alternating-current electricity, wing(2)It can be swung around second hinge, Most long application voltage time takes the 40% to 100% of the cycle in a cycle, and the frequency of alternating current takes wing(2)Around second hinge Swing the 90% to 110% of intrinsic frequency, the coil of four sets of flapping wing mechanisms(5)Logical ac frequency is consistent.
2. many flapping wing aircrafts according to claim 1, it is characterised in that:Described mover(3)Around second hinge pendulum Dynamic maximum magnitude takes 90 ° to 180 °, and the projection of the restricted wing angle of attack is set on mover(8), it is raised(8)Limit wing(2) It can only be swung around first axle in a fixed scope, the range size takes 60 ° to 120 °, flapping wing aircraft flight When, wing(2)It can be swung within the range around first axle in the presence of air force and inertia force, flapping wing aircraft hangs Stopping time, wing(2)Around second hinge clockwise oscillation stage and counter-clockwise swing stage wing(2)The minimum positive incidence reached It is in the same size.
3. a kind of flight control method of many flapping wing aircrafts, it is characterised in that including procedure below:
Yawing rotation:When wing around what first axle was swung most of in wing leaves balance position around what second hinge was swung Stage completion is put, the sub-fraction that wing surrounds first axle swing returns to equilbrium position in wing around what second hinge was swung When stage completes, wing leaves the average front face area of equilbrium position stage wing greatly around what second hinge was swung, and wing is surrounded What second hinge was swung return to, and the average front face area of equilbrium position stage wing is small, during a set of flapping wing mechanism motion, except producing Direction is that outside the pulling force of second hinge axis direction, it is the angular bisector side that wing surrounds second hinge angle of oscillation also to produce direction To pulling force, wherein angle of oscillation takes the angle of outward opening, increases and applies voltage to the coil of left front and right back flapping wing mechanism Time, reduce and apply the alive time to the coil of left back and right front flapping wing mechanism, make left front and right back wing The amplitude swung around second hinge is big, makes left back and right front wing small around the amplitude that second hinge is swung, and flapping wing flies Row device obtains the torque to left drift, to left drift;Increase and apply alive to the coil of left back and right front flapping wing mechanism Time, reduce and apply the alive time to the coil of left front and right back flapping wing mechanism, enclose left back and right front wing The amplitude swung around second hinge is big, makes left front and right back wing small around the amplitude that second hinge is swung, flapping flight Device obtains the torque gone off course to the right, goes off course to the right;
Move forward and backward:Increase and apply the alive time to the coil of the two sets of flapping wing mechanisms in rear, reduce and give two sets of front flapping-wing aircraft The coil of structure applies the alive time, makes two, rear wing big around the amplitude that second hinge is swung, and makes two wings in front The amplitude swung around second hinge is small, and flapping wing aircraft turns forward, and travels forward;Increase to two sets of front flapping wing mechanism Coil applies the alive time, reduces and applies the alive time to the coil of the two sets of flapping wing mechanisms in rear, makes two wings in front The amplitude swung around second hinge is big, makes two, rear wing small around the amplitude that second hinge is swung, flapping wing aircraft to Rear-inclined, is moved backward;
Lateral movement:Increase and apply the alive time to the coil of the two sets of flapping wing mechanisms in right side, reduce and give two sets of left side flapping-wing aircraft The coil of structure applies the alive time, makes two, right side wing big around the amplitude that second hinge is swung, and makes two wings in left side The amplitude swung around second hinge is small, and flapping wing aircraft is tilted to the left, to left movement;Increase to two sets of left side flapping wing mechanism Coil applies the alive time, reduces and applies the alive time to the coil of the two sets of flapping wing mechanisms in right side, makes two wings in left side The amplitude swung around second hinge is big, makes two, right side wings small around the amplitude that second hinge is swung, flapping wing aircraft to Right bank, is moved right;
Vertical movement:Increase and apply the alive time to the coil of four sets of flapping wing mechanisms, the lift for producing four sets of flapping wing mechanisms More than the gravity of flapping wing aircraft, flapping wing aircraft rises;Reduce and apply the alive time to the coil of four sets of flapping wing mechanisms, make The lift that four sets of flapping wing mechanisms are produced is less than the gravity of flapping wing aircraft, and flapping wing aircraft declines.
CN201710392979.5A 2017-05-27 2017-05-27 More flapping wing aircrafts and its flight control method Active CN107200127B (en)

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