CN108121855A - Small-sized unmanned aircraft flight dynamics optimization method based on Bionic flexible wing - Google Patents
Small-sized unmanned aircraft flight dynamics optimization method based on Bionic flexible wing Download PDFInfo
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Abstract
Small-sized unmanned aircraft flight dynamics optimization method disclosed by the invention based on Bionic flexible wing, belongs to small-sized fixed-wing unmanned vehicle master-plan and flight dynamics field.The present invention is by imitating large-scale gliding birds wing geometry, design feature designs Bionic flexible wing；Based on Bionic flexible wing, the very significant former rank mode in reverse part are obtained to wing model analysis；By obtained former rank modal equations groups and fight dynamics equation group simultaneous, and add in the aerodynamic force coupling terms of elastic deformation generation；Show that bionical wing aeroelasticity effect influences flight dynamics coupling, refine key parameter, in the case where not changing airframe structure arrangement and overall aerodynamic arrangement, the sign and size of adjustment key parameter are designed by adjusting wing structure, and then adjust wing aerodynamic elasticity and the coupled mode of flight dynamics, achieve the purpose that reduce short period frequency increase short periodic damping than, slow down small drone gust disturbances.
Description
Technical field
The present invention relates to a kind of flight dynamics optimization method based on Bionic flexible wing, belong to small-sized fixed-wing nobody
Aircraft Conceptual Design and flight dynamics field.
Background technology
For small-sized Fixed Wing AirVehicle, the gust disturbances problem generated under low reynolds number during flight restricts phase always
Pass technology development.This causes the work of its flight dynamics characteristic optimizing to have more challenge.The large size mainly flown in a manner of gliding
The flight Reynolds number of birds is similar to small drone, therefore can equally be subject to the larger impact of prominent wind disturbance.This is soft with birds
The aeroelasticity effect of property wing has certain relation.
Bionic flexible wing makes its aeroelasticity effect to flight by using for reference the design feature of birds wing in design
Dynamics has an impact, and slows down the dynamical perturbation in the case of prominent wind.Bionic flexible wing is specifically used for reference in design
Three kinds of features of birds wing：First is the aerofoil profile that birds wing is imitated with thin turbulent flow aerofoil profile；Second is by tangential cloth
Put pinna rachis-accessory pinna structure that reinforcing rib imitates birds remex；3rd is by the thickness and material in locally modification film, is increased
Add the rigidity and quality close to leading edge portion, reduce the rigidity and quality of rear edge part, and then imitate the quality of birds wing, bullet
The property forward feature of axis.
Main feature size will be controlled strictly in the design process of small-sized Fixed Wing AirVehicle, and fuselage interior is each
Subsystem partitions needs are highly integrated densely arranged, therefore, by increasing fin area, increasing empennage aerodynamic moment, modification machine
Traditional overall design optimization method such as inertial properties arrangement in practical applications can be severely limited inside body.
The content of the invention
Small-sized unmanned aircraft flight dynamics optimization method disclosed by the invention based on Bionic flexible wing, will solve
The technical issues of be to provide it is a kind of steady to improve small-sized unmanned aircraft flight based on the aeroelasticity effect of Bionic flexible wing
Qualitatively method reaches enhancing flight stability in the case where not changing airframe structure arrangement and overall aerodynamic arrangement, reduces
The purpose of gust disturbances.
The purpose of the present invention is what is be achieved through the following technical solutions.
Small-sized unmanned aircraft flight dynamics optimization method disclosed by the invention based on Bionic flexible wing, passes through mould
Imitative large-scale gliding birds wing geometry, design feature design Bionic flexible wing, the geometry, design feature include thin wing
Type, tangential rib and preposition elasticity, quality axis.The low torsion stiffness that wherein thin airfoil generates will cause aerodynamic force under prominent wind disturbance
Variation generates larger elasticity of torsion deformation, and then influences local angle of attack and the lift variation of wing, to the short week of flight dynamics
Phase characteristic has a direct impact；Tangential rib is configured to ensure that film aerofoil profile is not turned round significantly during elastic deformation
Song is conducive to the linearisation of relation between aerodynamic force and amount of elastic deformation；Preposition elasticity, quality axis then contribute to wing to have
Beneficial to the flexible deformation for slowing down prominent wind disturbance.Based on the Bionic flexible wing, model analysis is carried out to wing and obtains torsional part
Divide very significant former rank mode.By the obtained equation group of former rank mode and the equation group simultaneous of flight dynamics, and
The aerodynamic force coupling terms of elastic deformation generation are added in get to quasi- parsing, the Longitudinal Flight for having coupled wing aerodynamic elasticity moves
The state space form of mechanical model.Draw bionical wing aeroelasticity effect to flight dynamics from the quasi- analytic modell analytical model
The specific formulation that influences of coupling, refine key parameter, and pass through key parameter and clear Bionic flexible wing
Geometrical property and wing aerodynamic elasticity to the causality between flight dynamics coupling, and instruct bionical wing knot accordingly
Structure design modification, finally generates desired coupling effect to small-sized unmanned aircraft flight dynamics, i.e., is not changing fuselage knot
Structure reaches enhancing flight stability in the case of arranging with overall aerodynamic arrangement, reduces the purpose of gust disturbances.
A kind of flight dynamics optimization method based on Bionic flexible wing disclosed by the invention, includes the following steps：
Step 1：According to the pneumatic of Bionic flexible wing of the small-sized unmanned aircraft design requirement design with film aerofoil profile
Shape.
The design requirement includes small-sized unmanned aircraft basic load demand, cruising speed and size limitation.
The maximum gauge that the film aerofoil profile refers to aerofoil profile is no more than 2 the percent of chord length.
The small-sized unmanned aircraft preferably refers to the span less than three meters, and weight is less than 10 kilograms of fixed-wing unmanned plane.
Step 2：On the basis of the aerodynamic configuration of step 1 design film wing, complete small-sized unmanned aircraft and totally set
Meter, the small-sized unmanned aircraft master-plan include fuselage interior structure design and fuselage, the Design of Aerodynamic Configuration of empennage,
Complete the full machine aerodynamic configuration master-plan of small-sized unmanned aircraft.
Step 3：On the basis of the full machine aerodynamic configuration for completing small-sized unmanned aircraft master-plan in step 2, complete complete
Machine Unsteady Aerodynamic Modeling is opened up to aerodynamic force including wing and is distributed with calculating.
Step 4：Mass property and the full machine aerodynamic force of step 3 are obtained according to step 2 small-sized unmanned aircraft master-plan
The aerodynamic characteristic that Modeling Calculation obtains is established the dynamic (dynamical) microvariations inearized model of Longitudinal Flight, and is changed into shaped like formula
(1) state space form.
Wherein：Subscript R represents rigid situation.xR=[u α q θ]TFor rigid motion quadravalence quantity of state.Four quantity of states point
Not Wei forward speed, the angle of attack, rate of pitch, pitch angle.wgFor vertical air speed caused by fitful wind.u0For cruising speed.G attaches most importance to
Power acceleration.Matrix ARRWith GRThe expression of each element in Tables 1 and 2 by finding in the middle.
1 matrix A of table and the definition of each derivative in G
Definition of the table 2 on the broad sense aerodynamic derivative of structural modal
Wherein：S is wing area, and b is the span, and c is local chord,For mean aerodynamic chord, Q is dynamic pressure, and m is flight
Device gross mass, IyRepresent the pitch rotation inertia of small-sized unmanned aircraft, xERepresent elastic shaft between barycenter in the x direction
Distance, e represent the distance between elastic shaft and aerodynamic center, mi、 Generalized mass, the mould of the i-th rank mode are represented respectively
The bent portion in reverse part and Mode Shape in the state vibration shape.Cl0(y) and Clα(y) it is respectively CL0And CLαIn wing exhibition
Upward distribution.
Step 5：The Bionic flexible wing aerodynamic shape obtained according to small-sized unmanned aircraft design requirement and step 1,
Design Bionic flexible wing structure.
The Bionic flexible wing structure design preferred carbon fiber of material used.
Step 6：In the tangential configuration rib of wing, film aerofoil profile changes caused by reducing flexible deformation, to reduce wing standard
The nonlinear change of Unsteady Flow.
Step 7：The finite element modeling based on shell unit is carried out to wing, and carries out the fixed modeization processing of wing root, is obtained
Go out natural frequency, Mode Shape and the generalized mass of former rank mode, and analyze the main torsion feature for rank Mode Shape of informing against, with
And larger proportion, the i.e. preceding n rank Mode Shapes of former rank Mode Shapes are occupied in reverse part in preceding n ranks Mode Shape.Mode
Wing structure dynamics that treated is represented by equation (2).
Wherein：Represent the elastic deformation amount of wing.ηi,ζiAnd ωiGeneralized coordinates, the mould of the i-th rank mode are represented respectively
The state vibration shape, modal damping and modal frequency.
N rank mode is depending on system accuracies before being drawn described in step 7, in the case of not increasing the total exponent number of system
Ensure system accuracies, it is longitudinally short that the highest natural frequency of step 7 institute modulus state is preferably more than step flight dynamics model
Ten times of periodic mode frequency.
Step 8：Check the vibration shape for former rank mode that step 7 obtains, it is ensured that will not be generated in Mode Shape apparent
Profile deformation distorts.If any apparent profile deformation twisted phenomena is generated, then reinforcement of modifying to the distribution of rib and design,
Step 5 is repeated to step 7, until ensuring that apparent profile deformation distortion will not be generated in the main torsion mode vibration shape.
Step 9：The wing mode that small drone flight dynamics model that combining step four is drawn, step 7 are drawn
Natural frequency, Mode Shape and generalized mass, the wing that draws with step 3 open up and be distributed to aerodynamic force, simultaneous such as formula (1)
The fight dynamics equation group and the dynamics equations group as shown in formula (2), add in coupling terms, draw mutual coupling
The dynamics equations group such as formula (3) and the fight dynamics equation group such as formula (4) closed；Liru formula (3) in parallel
Wing aerodynamic elastic equation group and the fight dynamics equation group such as formula (4), coupled the vertical of wing aerodynamic elasticity
To shown in the state space form such as formula (5) of flight dynamics model.
Wherein：QηjRepresent the broad sense aerodynamic force on jth rank mode.Subscript E represents elastic situation.Quantity of state xE=[η1
η2 ... ηn]TTo characterize the state vector of flexible deformation.Shown in the concrete composition of each submatrix such as formula (6).
GE=[H1α ... Hnα]T/u0
Step 9：Solve the key broad sense aerodynamic derivative in the couple state space as shown in formula (5)And stability
The characteristic root of matrix A, according to broad sense aerodynamic derivativeDetermine shadow of the wing aerodynamic elasticity to small drone flight dynamics
It rings.
Step 9 concrete methods of realizing is as follows：
Solve the key broad sense aerodynamic derivative in the couple state space as shown in formula (5)With matrix stability A's
Characteristic root.According to broad sense aerodynamic derivativeSign and size determine wing aerodynamic elasticity as shown in formula (3) to such as public
The influence of small drone flight dynamics shown in formula (4), small drone flight dynamics influence refer to：Larger
NegativeValue can significantly reduce the frequency of flight dynamics short period mode and increase its damping, so as to slow down small drone
Gust response；It is and larger positiveValue can then dramatically increase the frequency of its flight dynamics short period mode and reduce it
Damping.Wherein, the main torsion mode of wing is beneficial to generate largerValue so that wing aerodynamic elasticity is to miniature self-service
The coupling effect of machine flight dynamics is more notable.
Step 10：Passing through influence of the clear and definite wing aerodynamic elasticity of step 9 to small-sized unmanned aircraft flight dynamics
On the basis of, in the case where not changing airframe structure arrangement and overall aerodynamic arrangement, at wing difference chordwise location
Wing film thickness change the Torsion Coupling shape of the distance e and wing of wing elastic shaft and aerodynamic center in formula (6)
Formula, and then adjustSymbol and size.Step 5 is repeated to step 9, until realize do not change airframe structure arrangement with
Reach enhancing flight stability in the case of overall aerodynamic arrangement, reduce the purpose of gust disturbances.
The Torsion Coupling form refers toWithRelative size and symbol.
Step 10 concrete methods of realizing is as follows：Use for reference large-scale gliding birds wing geometry, design feature design Bionic flexible
Wing by the thickness and material in locally modification film, increases the rigidity and quality close to leading edge portion, reduces rear edge part
Rigidity and quality.The local directed complete set of above-mentioned rigidity and quality change respectively in formula (6) value of e with It is relatively large
Small and symbol so that finalTowards more negative direction change.
Advantageous effect：
1st, the small-sized unmanned aircraft flight dynamics optimization method disclosed by the invention based on Bionic flexible wing, it is right
Fexible film wing with thin airfoil carries out structural dynamical model and aeroelastic analysis, draws the nature of former rank mode
Frequency, Mode Shape and generalized mass, and analyze former rank Mode Shapes based on reversing, i.e., so that wing aerodynamic elasticity is right
The coupling effect of small drone flight dynamics is more notable, to significantly change, optimizing by wing aerodynamic buoyancy effect
The flight dynamics characteristic of small drone provides support.
2nd, the small-sized unmanned aircraft flight dynamics optimization method disclosed by the invention based on Bionic flexible wing uses
The method for establishing the higher quasi- analytic modell analytical model of transparency, characterization Bionic flexible wing aerodynamic elasticity and the coupling of flight dynamics are closed
System, the analysis refinement key parameter from coupled relation, in the case where not changing airframe structure arrangement and overall aerodynamic arrangement,
The sign and size of adjustment key parameter are designed by adjusting wing structure, and then it is dynamic with flight to adjust wing aerodynamic elasticity
The coupled mode of mechanics reaches and reduces the short periodic damping ratio of short period frequency increase, enhance flight stability, slow down miniature self-service
The purpose of machine gust disturbances.
Description of the drawings
Fig. 1 is the flow chart of the flight dynamics optimization method based on Bionic flexible wing；
(a) is partly birds wing aerofoil profile in Fig. 2, and (b) is partly bionical resilient wing aerofoil profile；
Fig. 3 is the small-sized unmanned aircraft in embodiment；
Fig. 4 is the aerodynamic modeling schematic diagram based on vortex lattice method；
Fig. 5 is opened up along wing to distribution situation for main aerodynamic derivative；
Fig. 6 is the comparison diagram of initial designs wing (a) and optimization design wing (b) in embodiment；
Fig. 7 presents the main torsion mode vibration shape of Bionic flexible wing and vibration shape reverse part extend to distribution situation；
Fig. 8-10 is respectively torsion and the bent portion of the vibration shape of the first to the 3rd stage structure mode of Bionic flexible wing；
Figure 11 is the flight dynamics and aeroelasticity Coupling method process schematic that the present invention applies；
Figure 12 illustrates the relation of each physical quantity in coupled wave equation expression formula；
Figure 13-16 is respectively that arranged in pairs or groups in the embodiment small-sized unmanned aircraft of different type wing is dashed forward landscape condition in sharp edge
Dynamic response situation in lower longitudinal velocity, rate of pitch, pitch angle and length travel.Wherein：(1) the rigid machine of configuration is represented
The corresponding situation of the wing；(2) the corresponding situation of initial designs wing is represented；(3) the corresponding situation of optimization design wing is represented.
Specific embodiment
In order to better illustrate objects and advantages of the present invention, the content of the invention is done further with example below in conjunction with the accompanying drawings
Explanation.
Embodiment 1：
The initial designs index of the present embodiment inputs：Small-sized unmanned aircraft cruising speed u0=15m/s, span b=
1.7m, operating mass unloden 2.5kg.Longitudinal direction in emulation wind velocity of dashing forward is designed as wg=3m/s.
As shown in Figure 1, the small-sized unmanned aircraft flight dynamics based on Bionic flexible wing disclosed in the present embodiment is excellent
Change method, includes the following steps：
Step 1：According to the aerodynamic configuration of small-sized unmanned aircraft initial designs index In-put design Bionic flexible wing.
Shown in the aerodynamic configuration designed in the present embodiment such as Fig. 2 (b).The design of the wherein film aerofoil profile of wing is had received such as Fig. 2 (a) institutes
The inspiration for the birds wing aerofoil profile shown.
Step 2：On the basis of the aerodynamic configuration of step 1 design film wing, complete small-sized unmanned aircraft and totally set
Meter, the small-sized unmanned aircraft master-plan include fuselage interior structure design and fuselage, the Design of Aerodynamic Configuration of empennage.
The aerodynamic configuration that the small-sized unmanned aircraft of completion is designed in the present embodiment is as shown in Figure 3.Important population parameter such as 3 institute of table
Show.
The main population parameter of the middle-size and small-size unmanned vehicle of 3 the present embodiment of table
Step 3：On the basis of the full machine aerodynamic configuration of step 2 design, full machine Unsteady Aerodynamic Modeling is completed with calculating, wherein
It opens up to aerodynamic force and is distributed including wing.Aerodynamic modeling uses traditional vortex lattice method, as shown in Figure 4.The length in whirlpool is fuselage length
Ten times.The exhibition of obtained key aerodynamic parameter is as shown in Figure 5 to distribution.
Step 4：Mass property and the full machine aerodynamic force of step 3 are obtained according to step 2 small-sized unmanned aircraft master-plan
The aerodynamic characteristic that Modeling Calculation obtains is established the dynamic (dynamical) microvariations inearized model of Longitudinal Flight, and is changed into such as formula (1)
Shown state space form.
State space matrices in the present embodiment are as follows：
GR=[0.413-0.344-5.390 0]T
Solve ARRCharacteristic root can obtain short periodic proper value as -5.571 ± 8.893i, long period characteristic value -0.002 ±
0.782i。
Step 5：The Bionic flexible wing aerodynamic shape obtained according to small-sized unmanned aircraft design requirement and step 1,
Design the Bionic flexible wing structure based on carbon fibre material.Shown in Bionic flexible wing such as Fig. 6 (a) of Preliminary design.Wherein
Carbon fibre laying uses the homogeneous thickness of 1mm, and the laying direction of adjacent two layers carbon fibre material is in 90 ° therefore entirety mechanical characteristic is items
The same sex.Wing quality, elastic shaft are respectively positioned on close to middle string position.
Step 6：In the tangential configuration rib of wing, film aerofoil profile changes caused by reducing flexible deformation, to reduce wing standard
The nonlinear change of Unsteady Flow.Rib is equally made of carbon fibre material, thickness 3mm, and width 5mm is extended to uniform
Distribution, adjacent two rib spacing 85mm.
Step 7：The finite element modeling based on shell unit is carried out to wing, and carries out model analysis.As shown in formula (2),
Wing structure dynamics after model analysis is represented by the linear superposition that former ranks decouple mutually mode motion.
First three rank mode is taken in this analysis example.Relevant modal characteristics parameter is as shown in table 4.
Table 4
Step 8：Check the vibration shape for former rank mode that step 7 obtains, it is ensured that will not be generated in Mode Shape apparent
Profile deformation distorts.Obtained first rank Mode Shape and corresponding torsional deflection cloud atlas is as shown in Figure 7.It can be seen that mode
Vibration shape reverse part it is each open up under position (y-coordinate value) almost without extend to variation, that is, the film aerofoil profile shape designed
Shape remains unchanged under first step mode deformation in all open up to position.The correspondence situation of second and third rank mode and First-Order Mode
State is similar.
Due to not having aerofoil profile twisted phenomena, the vibration shape of first three rank mode can be by reverse partAnd bent portion's
Linear combination represents.The torsion of first three rank mode, bent portion are as shown in figure Fig. 8~10.
Step 9：Establish wing aerodynamic elasticity and the dynamic (dynamical) coupling model of Longitudinal Flight.Figure 11 is coupling flying power
The schematic diagram that parameter is transferred during model foundation.Small drone flight dynamics model that combining step four is drawn, step
Natural frequency, Mode Shape and the generalized mass of the rapid seven wing mode drawn are opened up with the wing that step 3 is drawn to aerodynamic force
Distribution, fight dynamics equation group of the simultaneous as described in formula (1) and the dynamics equations group as shown in formula (2), add
Enter coupling terms, draw the dynamics equations group such as formula (3) being mutually coupled and the fight dynamics equation such as formula (4)
Group；The wing aerodynamic elastic equation group of Liru formula (3) in parallel and the fight dynamics equation group such as formula (4), are coupled
Shown in the state space form such as formula (5) of the Longitudinal Flight kinetic model of wing aerodynamic elasticity.
Shown in the concrete composition of each submatrix such as formula (6)：
GE=[H1α ... Hnα]T/u0
The definition of each element of each submatrix refers to Tables 1 and 2 in formula (6).The each physical quantity occurred it
Between relation refer to Figure 12.Ignore the damping of each stage structure mode, can obtain each submatrix is：
GE=[- 710.8 3.11e3-2.58e3]T
Step 9：Solve the key broad sense aerodynamic derivative in the couple state space as shown in formula (5)And stability
The characteristic root of matrix A, according to broad sense aerodynamic derivativeDetermine shadow of the wing aerodynamic elasticity to small drone flight dynamics
It rings.In the present embodiment, matrix A is extractedEEInValue can obtainSolve A matrixes characteristic value, can winner it is short
The characteristic root of periodic mode (short-period dominating mode) is -5.44 ± 8.49i.It can be seen that negativeUnder the influence of value, compared to configuration rigid wing situation, be configured with as shown in Fig. 6 (a), film thickness it is homogeneous just
The damping increase of the short-period motion of the small-sized unmanned aircraft of the design that begins wing, frequency reduce.But due toAbsolute value
Too small, short-period motion damping and the variation of frequency are not obvious.
Step 10：Influence of the wing aerodynamic elasticity to small-sized unmanned aircraft flight dynamics is being specified by step 9
On the basis of, in the case where not changing airframe structure arrangement and overall aerodynamic arrangement, by adjusting wing difference chordwise location
The wing film thickness at place changes wing elastic shaft and the distance e of aerodynamic center and the Torsion Coupling of wing in formula (6)
Form (i.e. with Relative size and symbol), allowValue towards more negative direction change, repeat step 5 to walking
Rapid nine, reach enhancing flight stability in the case where not changing airframe structure arrangement and overall aerodynamic arrangement until realizing, subtract
The purpose of small gust disturbances.
Shown in Bionic flexible wing such as Fig. 6 (b) by optimization design.It optimizes direction and uses for reference birds wing structure spy
Sign by the thickness and material in locally modification film, increases the rigidity and quality close to leading edge portion, reduces rear edge part
Rigidity and quality.The local directed complete set of above-mentioned rigidity and quality can change respectively in formula (6) value of e with It is relatively large
Small and symbol so that finalTowards more negative direction change.Step 5 is repeated to step 9, configuration optimization wing can be obtained
The present embodiment in small-sized unmanned aircraftValue and main short periodic proper value are as shown in table 5.
As can be seen from Table 5, small drone can be significantly reduced by having used for reference the optimization wing of birds wing architectural characteristic
Short period frequency increases its damping ratio.
Table 5 configures the short cyclophysis comparison of small drone in the case of different wings
To further confirm that improvement of the Bionic flexible wing to flight dynamics, design and simulation example is as follows：
The sharp edge inscribed when flying speed 15m/s, simulation time 0.25s dashes forward wind vertical speed as 3m/s.It is respectively configured
The longitudinal direction of the small-sized unmanned aircraft of initial wing and optimization wing dash forward wind disturbance analog result as shown in Figure 13~16, by scheming
13~16 understand, the present embodiment can reach enhancing flight in the case where not changing airframe structure arrangement and overall aerodynamic arrangement
Stability reduces the purpose of gust disturbances.
Above-described specific descriptions have carried out further specifically the purpose, technical solution and advantageous effect of invention
It is bright, it should be understood that the above is only a specific embodiment of the present invention, the protection model being not intended to limit the present invention
It encloses, within the spirit and principles of the invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection domain within.
Claims (6)
1. the small-sized unmanned aircraft flight dynamics optimization method based on Bionic flexible wing, it is characterised in that：Including as follows
Step,
Step 1：According to the aerodynamic configuration of Bionic flexible wing of the small-sized unmanned aircraft design requirement design with film aerofoil profile；
Step 2：On the basis of the aerodynamic configuration of step 1 design film wing, small-sized unmanned aircraft master-plan, institute are completed
The small-sized unmanned aircraft master-plan stated includes fuselage interior structure design and fuselage, the Design of Aerodynamic Configuration of empennage, i.e., complete
Into the full machine aerodynamic configuration master-plan of small-sized unmanned aircraft；
Step 3：On the basis of the full machine aerodynamic configuration for completing small-sized unmanned aircraft master-plan in step 2, full machine gas is completed
Dynamical modeling is opened up to aerodynamic force including wing and is distributed with calculating；
Step 4：Mass property and the full machine Unsteady Aerodynamic Modeling of step 3 are obtained according to step 2 small-sized unmanned aircraft master-plan
The aerodynamic characteristic being calculated is established the dynamic (dynamical) microvariations inearized model of Longitudinal Flight, and is changed into shaped like formula (1)
State space form；
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<mo>&CenterDot;</mo>
</mover>
</msub>
<msub>
<mi>Z</mi>
<mi>&alpha;</mi>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<msub>
<mi>M</mi>
<mi>q</mi>
</msub>
<mo>+</mo>
<msub>
<mi>M</mi>
<mover>
<mi>w</mi>
<mo>&CenterDot;</mo>
</mover>
</msub>
<msub>
<mi>u</mi>
<mn>0</mn>
</msub>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>G</mi>
<mi>R</mi>
</msub>
<mo>=</mo>
<msup>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>X</mi>
<mi>&alpha;</mi>
</msub>
</mtd>
<mtd>
<mrow>
<msub>
<mi>Z</mi>
<mi>&alpha;</mi>
</msub>
<mo>/</mo>
<msub>
<mi>u</mi>
<mn>0</mn>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<msub>
<mi>M</mi>
<mi>&alpha;</mi>
</msub>
<mo>+</mo>
<msub>
<mi>M</mi>
<mover>
<mi>w</mi>
<mo>&CenterDot;</mo>
</mover>
</msub>
<msub>
<mi>Z</mi>
<mi>&alpha;</mi>
</msub>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
<mi>T</mi>
</msup>
<mo>/</mo>
<msub>
<mi>u</mi>
<mn>0</mn>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein：Subscript R represents rigid situation；xR=[u α q θ]TFor rigid motion quadravalence quantity of state；Four quantity of states are respectively
Forward speed, the angle of attack, rate of pitch, pitch angle；wgFor vertical air speed caused by fitful wind；u0For cruising speed；G adds for gravity
Speed；Matrix ARRWith GRThe expression of each element in Tables 1 and 2 by finding in the middle；
1 matrix A of table and the definition of each derivative in G
Definition of the table 2 on the broad sense aerodynamic derivative of structural modal
Wherein：S is wing area, and b is the span, and c is local chord,For mean aerodynamic chord, Q is dynamic pressure, and m is total for aircraft
Quality, IyRepresent the pitch rotation inertia of small-sized unmanned aircraft, xEElastic shaft is represented to the distance between barycenter in the x direction,
E represents the distance between elastic shaft and aerodynamic center, mi、Represent that the generalized mass of the i-th rank mode, mode shake respectively
The bent portion in reverse part and Mode Shape in type；Cl0(y) and Clα(y) it is respectively CL0And CLαIt is upward in wing exhibition
Distribution；
Step 5：The Bionic flexible wing aerodynamic shape obtained according to small-sized unmanned aircraft design requirement and step 1, design
Bionic flexible wing structure；
Step 6：In the tangential configuration rib of wing, film aerofoil profile changes caused by reducing flexible deformation, to reduce wing pseudo steady
The nonlinear change of aerodynamic force；
Step 7：The finite element modeling based on shell unit is carried out to wing, and carries out the fixed modeization processing of wing root, before drawing
Natural frequency, Mode Shape and the generalized mass of a few rank mode, and analyze the main torsion feature for rank Mode Shape of informing against, Yi Jiqian
Larger proportion, the i.e. preceding n rank Mode Shapes of former rank Mode Shapes are occupied in reverse part in n rank Mode Shapes；Modeization processing
Wing structure dynamics afterwards is represented by equation (2)；
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<mover>
<mi>d</mi>
<mo>&RightArrow;</mo>
</mover>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>,</mo>
<mi>y</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mi>i</mi>
<mi>n</mi>
</munderover>
<msub>
<mi>&eta;</mi>
<mi>i</mi>
</msub>
<msub>
<mover>
<mi>&phi;</mi>
<mo>&RightArrow;</mo>
</mover>
<mi>i</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>,</mo>
<mi>y</mi>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mfrac>
<mrow>
<mi>d</mi>
<msub>
<mover>
<mi>&eta;</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>i</mi>
</msub>
</mrow>
<mrow>
<mi>d</mi>
<mi>t</mi>
</mrow>
</mfrac>
<mo>+</mo>
<msub>
<mi>&zeta;</mi>
<mi>i</mi>
</msub>
<msub>
<mi>&omega;</mi>
<mi>i</mi>
</msub>
<msub>
<mover>
<mi>&eta;</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>i</mi>
</msub>
<mo>+</mo>
<msup>
<msub>
<mi>&omega;</mi>
<mi>i</mi>
</msub>
<mn>2</mn>
</msup>
<msub>
<mi>&eta;</mi>
<mi>i</mi>
</msub>
<mo>=</mo>
<mn>0</mn>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein：Represent the elastic deformation amount of wing；ηi,ζiAnd ωiRepresent that the generalized coordinates of the i-th rank mode, mode shake respectively
Type, modal damping and modal frequency；
Step 8：Check the vibration shape for former rank mode that step 7 obtains, it is ensured that apparent aerofoil profile will not be generated in Mode Shape
It distorts；If any apparent profile deformation twisted phenomena is generated, then reinforcements of modifying to the distribution of rib and design, repeatedly
Step 5 is to step 7, until ensuring that apparent profile deformation distortion will not be generated in the main torsion mode vibration shape；
Step 9：The wing mode that small drone flight dynamics model that combining step four is drawn, step 7 are drawn from
The wing that right frequency, Mode Shape and generalized mass and step 3 are drawn is opened up to be distributed to aerodynamic force, and simultaneous such as formula (1) is described
Fight dynamics equation group and dynamics equations group as shown in formula (2), addition coupling terms draw what is be mutually coupled
Dynamics equations group such as formula (3) and the fight dynamics equation group such as formula (4)；The machine of Liru formula (3) in parallel
Wing aeroelasticity equation group and the fight dynamics equation group such as formula (4), the longitudinal direction for having been coupled wing aerodynamic elasticity flies
It takes action shown in the state space form such as formula (5) of mechanical model；
<mrow>
<mfrac>
<mrow>
<mi>d</mi>
<msub>
<mover>
<mi>&eta;</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>i</mi>
</msub>
</mrow>
<mrow>
<mi>d</mi>
<mi>t</mi>
</mrow>
</mfrac>
<mo>+</mo>
<msub>
<mi>&zeta;</mi>
<mi>i</mi>
</msub>
<msub>
<mi>&omega;</mi>
<mi>i</mi>
</msub>
<msub>
<mover>
<mi>&eta;</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>i</mi>
</msub>
<mo>+</mo>
<msup>
<msub>
<mi>&omega;</mi>
<mi>i</mi>
</msub>
<mn>2</mn>
</msup>
<msub>
<mi>&eta;</mi>
<mi>i</mi>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>Q</mi>
<msub>
<mi>&eta;</mi>
<mi>j</mi>
</msub>
</msub>
</mrow>
<msub>
<mi>m</mi>
<mi>i</mi>
</msub>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<mover>
<mi>x</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>R</mi>
</msub>
<mo>=</mo>
<msub>
<mi>A</mi>
<mrow>
<mi>R</mi>
<mi>R</mi>
</mrow>
</msub>
<msub>
<mi>x</mi>
<mi>R</mi>
</msub>
<mo>+</mo>
<msub>
<mi>A</mi>
<mrow>
<mi>R</mi>
<mi>E</mi>
</mrow>
</msub>
<msub>
<mi>x</mi>
<mi>E</mi>
</msub>
<mo>+</mo>
<msub>
<mi>A</mi>
<mrow>
<mi>R</mi>
<mover>
<mi>E</mi>
<mo>&CenterDot;</mo>
</mover>
</mrow>
</msub>
<msub>
<mover>
<mi>x</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>E</mi>
</msub>
<mo>+</mo>
<msub>
<mi>G</mi>
<mi>R</mi>
</msub>
<msub>
<mi>w</mi>
<mi>g</mi>
</msub>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>4</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mover>
<mi>x</mi>
<mo>&CenterDot;</mo>
</mover>
<mo>=</mo>
<mi>A</mi>
<mi>x</mi>
<mo>+</mo>
<msub>
<mi>Gw</mi>
<mi>g</mi>
</msub>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>A</mi>
<mrow>
<mi>R</mi>
<mi>R</mi>
</mrow>
</msub>
</mtd>
<mtd>
<msub>
<mi>A</mi>
<mrow>
<mi>R</mi>
<mi>E</mi>
</mrow>
</msub>
</mtd>
<mtd>
<msub>
<mi>A</mi>
<mrow>
<mi>R</mi>
<mover>
<mi>E</mi>
<mo>&CenterDot;</mo>
</mover>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mi>I</mi>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>A</mi>
<mrow>
<mi>E</mi>
<mi>R</mi>
</mrow>
</msub>
</mtd>
<mtd>
<msub>
<mi>A</mi>
<mrow>
<mi>E</mi>
<mi>E</mi>
</mrow>
</msub>
</mtd>
<mtd>
<msub>
<mi>A</mi>
<mrow>
<mi>E</mi>
<mover>
<mi>E</mi>
<mo>&CenterDot;</mo>
</mover>
</mrow>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>x</mi>
<mi>R</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>x</mi>
<mi>E</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mover>
<mi>x</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>E</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>+</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>G</mi>
<mi>R</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>G</mi>
<mi>E</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<msub>
<mi>w</mi>
<mi>g</mi>
</msub>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>5</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein：Represent the broad sense aerodynamic force on jth rank mode；Subscript E represents elastic situation；Quantity of state xE=[η1 η2
... ηn]TTo characterize the state vector of flexible deformation；Shown in the concrete composition of each submatrix such as formula (6)；
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>A</mi>
<mrow>
<mi>R</mi>
<mi>E</mi>
</mrow>
</msub>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>X</mi>
<msub>
<mi>&eta;</mi>
<mn>1</mn>
</msub>
</msub>
</mtd>
<mtd>
<mn>...</mn>
</mtd>
<mtd>
<msub>
<mi>X</mi>
<msub>
<mi>&eta;</mi>
<mi>n</mi>
</msub>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>Z</mi>
<msub>
<mi>&eta;</mi>
<mn>1</mn>
</msub>
</msub>
<mo>/</mo>
<msub>
<mi>u</mi>
<mn>0</mn>
</msub>
</mrow>
</mtd>
<mtd>
<mn>...</mn>
</mtd>
<mtd>
<mrow>
<msub>
<mi>Z</mi>
<msub>
<mi>&eta;</mi>
<mi>n</mi>
</msub>
</msub>
<mo>/</mo>
<msub>
<mi>u</mi>
<mn>0</mn>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>M</mi>
<msub>
<mi>&eta;</mi>
<mn>1</mn>
</msub>
</msub>
<mo>+</mo>
<msub>
<mi>M</mi>
<mover>
<mi>w</mi>
<mo>&CenterDot;</mo>
</mover>
</msub>
<msub>
<mi>Z</mi>
<msub>
<mi>&eta;</mi>
<mn>1</mn>
</msub>
</msub>
</mrow>
</mtd>
<mtd>
<mn>...</mn>
</mtd>
<mtd>
<mrow>
<msub>
<mi>M</mi>
<msub>
<mi>&eta;</mi>
<mi>n</mi>
</msub>
</msub>
<mo>+</mo>
<msub>
<mi>M</mi>
<mover>
<mi>w</mi>
<mo>&CenterDot;</mo>
</mover>
</msub>
<msub>
<mi>Z</mi>
<msub>
<mi>&eta;</mi>
<mi>n</mi>
</msub>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>...</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>,</mo>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>A</mi>
<mrow>
<mi>R</mi>
<mover>
<mi>E</mi>
<mo>&CenterDot;</mo>
</mover>
</mrow>
</msub>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>X</mi>
<msub>
<mover>
<mi>&eta;</mi>
<mo>&CenterDot;</mo>
</mover>
<mn>1</mn>
</msub>
</msub>
</mtd>
<mtd>
<mn>...</mn>
</mtd>
<mtd>
<msub>
<mi>X</mi>
<msub>
<mover>
<mi>&eta;</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>n</mi>
</msub>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>Z</mi>
<msub>
<mover>
<mi>&eta;</mi>
<mo>&CenterDot;</mo>
</mover>
<mn>1</mn>
</msub>
</msub>
<mo>/</mo>
<msub>
<mi>u</mi>
<mn>0</mn>
</msub>
</mrow>
</mtd>
<mtd>
<mn>...</mn>
</mtd>
<mtd>
<mrow>
<msub>
<mi>Z</mi>
<msub>
<mover>
<mi>&eta;</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>n</mi>
</msub>
</msub>
<mo>/</mo>
<msub>
<mi>u</mi>
<mn>0</mn>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>M</mi>
<msub>
<mover>
<mi>&eta;</mi>
<mo>&CenterDot;</mo>
</mover>
<mn>1</mn>
</msub>
</msub>
<mo>+</mo>
<msub>
<mi>M</mi>
<mover>
<mi>w</mi>
<mo>&CenterDot;</mo>
</mover>
</msub>
<msub>
<mi>Z</mi>
<msub>
<mover>
<mi>&eta;</mi>
<mo>&CenterDot;</mo>
</mover>
<mn>1</mn>
</msub>
</msub>
</mrow>
</mtd>
<mtd>
<mn>...</mn>
</mtd>
<mtd>
<mrow>
<msub>
<mi>M</mi>
<msub>
<mi>&eta;</mi>
<mi>n</mi>
</msub>
</msub>
<mo>+</mo>
<msub>
<mi>M</mi>
<mover>
<mi>w</mi>
<mo>&CenterDot;</mo>
</mover>
</msub>
<msub>
<mi>Z</mi>
<msub>
<mover>
<mi>&eta;</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>n</mi>
</msub>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>...</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>,</mo>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>A</mi>
<mrow>
<mi>E</mi>
<mi>R</mi>
</mrow>
</msub>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>H</mi>
<mrow>
<mn>1</mn>
<mi>u</mi>
</mrow>
</msub>
</mtd>
<mtd>
<msub>
<mi>H</mi>
<mrow>
<mn>1</mn>
<mi>&alpha;</mi>
</mrow>
</msub>
</mtd>
<mtd>
<msub>
<mi>H</mi>
<mrow>
<mn>1</mn>
<mi>q</mi>
</mrow>
</msub>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>...</mn>
</mtd>
<mtd>
<mn>...</mn>
</mtd>
<mtd>
<mn>...</mn>
</mtd>
<mtd>
<mn>...</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>H</mi>
<mrow>
<mi>n</mi>
<mi>u</mi>
</mrow>
</msub>
</mtd>
<mtd>
<msub>
<mi>H</mi>
<mrow>
<mi>n</mi>
<mi>&alpha;</mi>
</mrow>
</msub>
</mtd>
<mtd>
<msub>
<mi>H</mi>
<mrow>
<mi>n</mi>
<mi>q</mi>
</mrow>
</msub>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>,</mo>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>A</mi>
<mrow>
<mi>E</mi>
<mi>E</mi>
</mrow>
</msub>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<mo>-</mo>
<msup>
<msub>
<mi>&omega;</mi>
<mn>1</mn>
</msub>
<mn>2</mn>
</msup>
<mo>+</mo>
<msub>
<mi>H</mi>
<mrow>
<mn>1</mn>
<msub>
<mi>&eta;</mi>
<mn>1</mn>
</msub>
</mrow>
</msub>
</mrow>
</mtd>
<mtd>
<msub>
<mi>H</mi>
<mrow>
<mn>1</mn>
<msub>
<mi>&eta;</mi>
<mn>1</mn>
</msub>
</mrow>
</msub>
</mtd>
<mtd>
<mn>...</mn>
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Step 9：Solve the key broad sense aerodynamic derivative in the couple state space as shown in formula (5)And matrix stability
The characteristic root of A, according to broad sense aerodynamic derivativeDetermine influence of the wing aerodynamic elasticity to small drone flight dynamics；
Step 10：On the basis by influence of the clear and definite wing aerodynamic elasticity of step 9 to small-sized unmanned aircraft flight dynamics
On, in the case where not changing airframe structure arrangement and overall aerodynamic arrangement, by adjusting the machine at wing difference chordwise location
Wing film thickness is next to change the Torsion Coupling form of the distance e and wing of wing elastic shaft and aerodynamic center in formula (6)
AdjustmentSymbol and size；Step 5 is repeated to step 9, until realize do not change airframe structure arrangement and it is overall pneumatically
Reach enhancing flight stability in the case of layout, reduce the purpose of gust disturbances；
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The Torsion Coupling form refers toWithBetween relative size and symbol.
2. the small-sized unmanned aircraft flight dynamics optimization method based on Bionic flexible wing as described in claim 1,
It is characterized in that：
The design requirement includes small-sized unmanned aircraft basic load demand, cruising speed and size limitation；
The maximum gauge that the film aerofoil profile refers to aerofoil profile is no more than 2 the percent of chord length；
The small-sized unmanned aircraft refers to the span less than three meters, and weight is less than 10 kilograms of fixed-wing unmanned plane.
3. the small-sized unmanned aircraft flight dynamics optimization method based on Bionic flexible wing as claimed in claim 2,
It is characterized in that：N rank mode is depending on system accuracies before being drawn described in step 7, in the case of not increasing the total exponent number of system
Ensure system accuracies, the highest natural frequency of step 7 institute modulus state is no more than step flight dynamics model longitudinal short-period
Ten times of modal frequency.
4. the small-sized unmanned aircraft flight dynamics optimization method based on Bionic flexible wing as claimed in claim 3,
It is characterized in that：Step 9 concrete methods of realizing is as follows,
Solve the key broad sense aerodynamic derivative in the couple state space as shown in formula (5)With the feature of matrix stability A
Root；According to broad sense aerodynamic derivativeSign and size determine wing aerodynamic elasticity as shown in formula (3) to such as formula
(4) influence of the small drone flight dynamics shown in, small drone flight dynamics influence refer to：Larger is negative
'sValue can significantly reduce the frequency of flight dynamics short period mode and increase its damping, so as to slow down small drone
Gust response；It is and larger positiveValue can then dramatically increase the frequency of its flight dynamics short period mode and reduce its resistance
Buddhist nun；Wherein, the main torsion mode of wing is beneficial to generate largerValue so that wing aerodynamic elasticity is to small drone
The coupling effect of flight dynamics is more notable.
5. the small-sized unmanned aircraft flight dynamics optimization method based on Bionic flexible wing as claimed in claim 4,
It is characterized in that：Step 10 concrete methods of realizing is as follows,
Large-scale gliding birds wing geometry, design feature design Bionic flexible wing are used for reference, passes through the thickness in locally modification film
Degree and material increase rigidity and quality close to leading edge portion, reduce the rigidity and quality of rear edge part；Above-mentioned rigidity and quality
Local directed complete set change respectively in formula (6) value of e withRelative size and symbol so that it is finalTowards
More negative direction change.
6. the small-sized unmanned aircraft flight dynamics based on Bionic flexible wing as described in claim 1,2,3,4 or 5 is excellent
Change method, it is characterised in that：Bionic flexible wing structure design material used selects carbon fiber.
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| CN111177853A (en) * | 2019-12-31 | 2020-05-19 | 中国航空工业集团公司沈阳飞机设计研究所 | Wing type framework design method |
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| CN113094809A (en) * | 2021-03-26 | 2021-07-09 | 中南大学 | Method for calculating influence of flexible deformation on power of photovoltaic module of solar unmanned aerial vehicle |
| CN113761811A (en) * | 2021-09-09 | 2021-12-07 | 北京航空航天大学 | Unmanned aerial vehicle flexible flight dynamics analysis method considering complex wind field |
| CN114117634A (en) * | 2021-11-18 | 2022-03-01 | 吉林大学 | Parameterized modeling design method for torsional variable-section bionic drag reduction wing airfoil |
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| CN114492227A (en) * | 2021-12-29 | 2022-05-13 | 中国航天空气动力技术研究院 | Method, device and medium for analyzing dynamic stability based on aircraft oscillation frequency |
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