CN108750105A - It is a kind of to realize the system and method for flutterring solid wing structure multi-angle accurate transformation - Google Patents
It is a kind of to realize the system and method for flutterring solid wing structure multi-angle accurate transformation Download PDFInfo
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- CN108750105A CN108750105A CN201810698230.8A CN201810698230A CN108750105A CN 108750105 A CN108750105 A CN 108750105A CN 201810698230 A CN201810698230 A CN 201810698230A CN 108750105 A CN108750105 A CN 108750105A
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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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Abstract
The invention discloses a kind of realize to flutter the system and method for solid wing structure multi-angle accurate transformation, it solves the problems, such as that the prior art is not suitable for the bionics fiber of large-scale flying bird, depends on special landing runway mostly, with can realize flapping wing take off, fixed-wing cruise, can cruising phase neatly change fixed-wing angle effect；Its technical solution is：Including driving device and control system, driving device connects gear wheel by transmission mechanism, and gear wheel both sides are respectively equipped with a concentric sliding slot, and axis connection control system is fixed in sliding slot both sides by trigonometric expression；The center both sides of gear wheel connect wing main spar by crank and rocker mechanism respectively, and wing main spar is rotatablely connected with fuselage girder；The amplitude of swatting of wing main spar is detected by the angular transducer for being installed on fuselage girder side, and angular transducer will detect signal and reach control system, and control system control trigonometric expression fixing axle is matched with a certain matching hole in sliding slot, and solid wing conversion is flutterred in realization.
Description
Technical field
The present invention relates to bionic flapping-wing flying vehicle fields more particularly to a kind of realization to flutter solid wing structure multi-angle accurate transformation
System and method.
Background technology
Flapping wing aircraft is a kind of new concept aircraft for imitating flying bird or principle of insect flight design and manufacture.With fixed-wing
Aircraft is different, and fixed wing aircraft is to generate lift by wing, and the power that moves ahead is generated by the thrust or traction of engine, and flapping wing
The lift and thrust of aircraft are generated by a sized flap wings system.Flapping flight has special aerodynamic characteristic, it is easier to
Miniaturization.Bionics Study show when size it is small to a certain extent after, flapping flight have irreplaceable characteristic.
In addition flapping wing aircraft also has the characteristics that size is small, light-weight and good concealment, based on this important strategic importance, extensively by
To the attention of military field, rapidly developed in recent decades.
The wing of flying bird and insect has a common movement characteristic in entire flight course --- swat, swat be around
The angular movement for patting axis identical with its heading.Under different state of flights, it is variation to swat angle.Flying bird and elder brother
The angle that worm swats angle by change realizes best aeroperformance.Gliding, which is able to lasting condition, is：Weight/speed=movement
Distance/mistake is high, thus the ratio of lift and resistance is higher, gliding when swat the angle at angle and be cured hour, the speed of sinking is also slower,
To obtain horizontal gliding distance farther out.It can be seen that the distance that angle angle directly affects gliding is swatted when gliding, however simultaneously
Always gliding distance is not the bigger the better, and needs according to actual conditions by swatting the variation of angle angle, to adjust gliding distance.Such as
Imitative albatross morphing aerodynamic optimization shape angle when switching to land by gliding is about -5 °, is switching to anti-bow of dashing forward by gliding
Aerodynamic optimization shape angle is about 30 ° when rushing, and the angle of aerodynamic optimization shape is about -15 ° in cruise.
It is current on the low side for the bionical research of large-scale flying bird full offline mode mechanism transformation progress mechanism both at home and abroad, it is only
Hybrid motion formula bionic Aircraft structure is mostly to flutter rotor mode, i.e. flapping wing and rotor matches, the bionical object of such aircraft
For winged insect and small-sized flying bird, the bionics fiber to large-scale flying bird is not suitable for.Therefore, one kind need to be designed and flutter solid wing motor pattern
Aircraft to solve the above problems.
And a critical issue is exactly how to realize that flapping flight pattern and fixed-wing fly in flutterring solid rotor aircraft design
Steady, accurate conversion between row pattern.The conversion is not only the single conversion of flapping wing and fixed interplane, need to also be flown in fixed-wing
Under row pattern, the angle of the dynamic adjusting machine wing, to realize that aircraft reaches optimum pneumatic performance in varied situations.Therefore urgently
A kind of realize need to be designed and flutter the Mechatronic Systems that solid wing structure multi-angle is accurately converted.
Invention content
For overcome the deficiencies in the prior art, the present invention provides a kind of realize to flutter solid wing structure multi-angle accurate transformation
System and method, having can realize that flapping wing takes off, fixed-wing cruises, and efficient, cruising speed is fast, can be in cruising phase
Neatly change the effect of the angle of fixed-wing.
The present invention uses following technical proposals：
It is a kind of to realize the system for flutterring solid wing structure multi-angle accurate transformation, including driving device and control system, driving dress
It sets and a gear wheel is connected by transmission mechanism, gear wheel both sides are respectively equipped with a concentric sliding slot, and sliding slot both sides are logical
It crosses trigonometric expression and fixes axis connection control system；
The center both sides of gear wheel connect wing main spar, wing main spar and fuselage master by crank and rocker mechanism respectively
Beam is rotatablely connected, and the rotation of gear wheel drives the realization of wing main spar to swat operation；
The amplitude of swatting of wing main spar is detected by the angular transducer for being installed on fuselage girder side, and angular transducer will
Detection signal reaches control system, and control system control trigonometric expression fixing axle is matched with a certain matching hole in sliding slot, and realization is flutterred solid
The wing is converted；
Further, multiple matching holes, trigonometric expression fixing axle and different cooperations are arranged in interval setpoint distance in the sliding slot
Angle difference is swatted when hole connects.
Further, the gear wheel center is fixed with central shaft, and central shaft both ends are separately connected crank and rocker mechanism；
The crank and rocker mechanism includes crank and transmission rocking bar, and crank one end is connected with central shaft, the crank other end and
It is hinged to be driven rocking bar one end；The transmission rocking bar other end is divided into two sections, and it turns with being set on the outside of wing girder frame
Dynamic bearing is hinged；
Further, the trigonometric expression fixing axle includes two groups, and each group of trigonometric expression fixing axle includes first connecting rod and the
Two connecting rods；First connecting rod is connected with the end of second connecting rod by connecting shaft compatible with sliding slot；
Further, first connecting rod and second connecting rod head end are rotatablely connected with control system respectively, and pass through stepper motor
Driving is to change fixed angles size；
Further, fuselage body frame both sides are separately installed with rotating base, and the wing main spar passes through rotary shaft
It is connected with rotating base, rotating base side fixed angle sensor；
Further, the driving device be driving motor, driving motor be connected be meshed with the gear wheel it is small
Gear；
Further, the control system includes babinet, and controller is arranged in box house, and the bottom of box passes through shaft and three
Angie type fixing axle is connected.
The operating method for realizing the system for flutterring solid wing structure multi-angle accurate transformation, includes the following steps：
Step (1) takeoff phase, motor pattern are flapping mode, and driving motor drive gear wheel rotates, and gear wheel passes through
Crank handle turns are driven rocking bar and swing, and transmission rocking bar drives wing main spar to be swatted up and down around rotating base by rolling bearing；This
When trigonometric expression fixing axle it is hanging, do not contacted with canine tooth wheel side sliding slot.
Step (2) cruising phase, control system judgement swat frequency and whether meet given threshold, and according to currently swatting angle
Degree information swats frequency, to obtain the shaft hole matching time；Fixed angles are changed to by controlling initial angle, axis hole is made to start to match
It closes, and control system judges whether axis hole successfully coordinates；After axis hole successfully coordinates, it is converted to fixed-wing state.
Step (3) landing phases are changed to initial angle by controlling fixed angles, keep trigonometric expression fixing axle de- with matching hole
From；Start driving motor when axis hole completely disengages, is converted to flapping wing state.
Further, when swatting frequency more than given threshold, control system control driving motor, which is decelerated to, swats frequency
Less than given threshold.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) present invention is smoothly and precisely to realize aircraft wing flapping flight and multi-angle in the case where difference swats speed
Free switching between fixed-wing offline mode, while can be in the case where effectively reducing flapping wing speed and crossing high state, flapping flight conversion
Damage for fixed-wing flight to aircraft mechanical component.
(2) present invention setting wing amplitude calculates module, and the signal of angular transducer detection calculates module by wing amplitude
It calculates and analyzes, improve the accuracy for flutterring solid wing conversion；Have the effect of that accuracy is high, adaptable.
Description of the drawings
The accompanying drawings which form a part of this application are used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation do not constitute the improper restriction to the application for explaining the application.
Fig. 1 is the axonometric drawing of the present invention；
The axonometric drawing that Fig. 2 is wing angle of the present invention when being 30 ° under fixed-wing pattern；
Fig. 3 be wing angle of the present invention be -5 ° when fixed-wing pattern under axonometric drawing；
Fig. 4 be the present invention wing angle be -15 ° when fixed-wing pattern under axonometric drawing；
Fig. 5 is that control system of the present invention connect axonometric drawing with trigonometric expression fixing axle；
Fig. 6 is that control system of the present invention fixes axis connection front view with trigonometric expression；
Fig. 7 is the partial enlarged view of Fig. 6；
Fig. 8 is the gear wheel structural schematic diagram of the present invention；
Fig. 9 is the angular transducer scheme of installation of the present invention；
Connection figure when Figure 10 is trigonometric expression fixing axle of the present invention and control system is in initial angle；
Connection figure when Figure 11 is trigonometric expression fixing axle of the present invention and control system is in fixed angles；
Figure 12 is control system flow chart of the present invention.
Wherein, 1- fuselages body frame；2- gear wheels；3- driving motors；4A, 4B- crank；5A, 5B- are driven rocking bar；6A,6B-
Wing main spar；7A, 7B- rolling bearing；8A, 8B- rotating base；9- babinets；10- trigonometric expression fixing axles；11A,11B,11C-
Matching hole；12- angular transducers；13- stepper motors；14- first connecting rods；15- second connecting rods；16- connecting shafts；17- shafts；
18- sliding slots.
Specific implementation mode
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific implementation mode, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
As background technology is introduced, exist in the prior art be not suitable for large-scale flying bird bionics fiber, mostly according to
The deficiency of the special landing runways of Lai Yu, in order to solve technical problem as above, present applicant proposes a kind of realizations to flutter solid wing structure
The system and method for multi-angle accurate transformation.
In a kind of typical embodiment of the application, as shown in Figure 1-Figure 11, provides a kind of realize and flutter solid wing structure
The system of multi-angle accurate transformation, including driving device, control system, gear wheel 2, trigonometric expression fixing axle 10, fuselage body frame 1,
Crank and rocker mechanism and wing main spar 6A (6B).
The center of gear wheel 2 is fixed with central shaft, and the both ends of central shaft are separately connected a crank and rocker mechanism, crank rocker
Mechanism includes crank 4A (4B) and transmission rocking bar 5A (5B), and the one end crank 4A (4B) is connected with central shaft, and crank 4A (4B) is another
End and transmission one end rocking bar 5A (5B) are hinged；Transmission rocking bar 5A (5B) other end is divided into two sections, forms y-type structure.
The both sides of fuselage body frame 1 are rotatablely connected with a wing main spar 6A (6B) respectively.
Preferably, the both sides of fuselage body frame 1 are respectively mounted rotating base 8A (8B), and rotating base 8A (8B) includes two mutual
Parallel riser passes through between two risers and rotates axis connection wing main spar 6A (6B).
On the outside of one of riser angular transducer 12 is fixed with (far from the side wing main spar 6A (6B)).
Wing main spar 6A (6B) outer circumferential is arranged with rolling bearing 7A (7B), both sides rolling bearing 7A (7B) point
The two sections of ends that do not set up separately with transmission rocking bar 5A (5B) are hinged.
Driving device is connected by transmission mechanism with gear wheel 2.
Preferably, the transmission mechanism is a pinion gear, and the driving device is driving motor 3.
The pinion gear is installed on the motor shaft of driving motor 3, pinion gear engaged with gear wheel 2 (herein, it is large and small only
For relative concept, gear specific size is not defined), 3 driving pinion of driving motor rotation, to realize gear wheel
2 rotation, gear wheel 2 are swung up and down by the crank 4A, crank 4B driving transmission rocking bars 5A, transmission rocking bar 5B of its both sides.
2 both sides of the gear wheel are respectively equipped with the sliding slot 18 of circular ring shape close to endface position, and sliding slot 18 and gear wheel are concentric
It is arranged and there is certain depth；Three matching holes of setting spaced apart in sliding slot 18, i.e. matching hole 11A, matching hole 11B,
Matching hole 11C enables aircraft to respectively reach three different fixation wing angles by three matching holes, i.e. ,-
15 °, -5 ° and 30 °.
Above-mentioned cooperation bore dia is equal with 18 width of sliding slot, to ensure the connecting shaft 16 of trigonometric expression fixing axle 10 along sliding slot
18 slidings.
Wherein, wing angle is determined by formula (1)：
In formula (1), θ is that wing main spar 6A (6B) swats angle, and R is crank 4A (4B) length, and W is 2 jiaos of speed of gear wheel
Degree, l are crank 4A (4B) to 2 centre distance of gear wheel, and rolling bearing 7A (7B) is to the distance of wing main spar 6A (6B)
For l.
The symmetrical two trigonometric expression fixing axles 10 in 2 both sides of gear wheel, the trigonometric expression fixing axle 10 include first connecting rod
14, second connecting rod 15 and connecting shaft 16, first connecting rod 14 are connected with one end of second connecting rod 15, connect with one at the tie point of the two
Spindle 16 is connected；The diameter of the connecting shaft 16 is adapted with 18 size of sliding slot.
Angle between first connecting rod 14 and second connecting rod 15 is 60 °, and connecting shaft 16 connects perpendicular to first connecting rod 14, second
The tie point of bar 15；Connecting shaft 16 can coordinate with matching hole, and 16 diameter of connecting shaft is equal with cooperation bore dia, reach fixed big
The effect of gear 2.
First connecting rod 14 is connected with control system respectively with the other end of second connecting rod 15.
Wherein, the control system includes babinet 9, and controller is installed in 9 inside of babinet, and the controller includes four controls
Module is motor control module, status check module, fixed shaft hole cooperation control module, the control of shaft hole matching time respectively
Molding block.
Preferably, the babinet 9 is rectangular parallelepiped structure.
First connecting rod 14 is connected with 9 bottom end of babinet respectively with the other end of second connecting rod 15；As shown in Figure 6 and Figure 7,
Babinet 9 bottom four angle is respectively fixed with connector, and the connector and one end of shaft 17 are rotatablely connected, 17 other end of shaft
It is connected with first connecting rod 14 (second connecting rod 15) other end.
Trigonometric expression fixing axle 10 acts on lower swing in stepper motor 13, and each trigonometric expression fixing axle 10 is at least connected with 1 step
Stepper motor 13 at most connects 2 stepper motors 13；The motor shaft of stepper motor 13 is fixed with shaft 17, and stepper motor 13 is installed
In connector side.
Total 13 installation number of stepper motor is at least 2 in the application, is at most 4, depending on aircraft weight, respectively
Stepper motor cooperates.
The motor control module is realized by program, controls the rotation of driving motor 3.
The stepper motor 13 that fixed shaft hole coordinates control module control described, stepper motor 13 control trigonometric expression fixing axle 10
Rotation angle, and then realize adjusting to connecting shaft 13 and 2 distance of gear wheel.
The initial angle that shaft 17 of the trigonometric expression fixing axle 10 around 9 lower section of babinet rotates is 0 °, and it is initial angle to define the angle,
As shown in Figure 10, connecting shaft 16 and matching hole are not connected at this time；When mated condition, the folder of trigonometric expression fixing axle 10 and vertical direction
Angle is the arc-tangent value of sliding slot depth value divided by first connecting rod 14 (second connecting rod 15) length value, and it is fixed angles to define the angle, such as
Shown in Figure 11.
The status check module includes an angular transducer, the cooperation shape for detecting connecting shaft 16 and matching hole
State, the i.e. rotation angle of shaft 16；Angular transducer will detect signal and be sent to controller, and controller controls 3 He of driving motor
Stepping electricity 13 rotates.
Wing amplitude measuring and calculating module includes the angular transducer 12 of the side wing main spar 6A (6B), as shown in figure 9, angle
The tool of sensor 12 is fixed on rotating base 8A (8B) by fixed screw there are two mounting hole, wing main spar 6A (6B) with
The rotary shaft of rotating base 8A (8B) passes through the axis hole of angular transducer 12, rotary shaft to be revolved together with wing main spar 6A (6B)
Turn, drives the rotor rotation of angular transducer 12.
Wing amplitude calculates module and swats the measurement of angle to wing main spar 6A (6B) by program realization and flutter in real time
Play the calculating of frequency.
The angular transducer 12 can convert angle signal to the voltage signal of 0~5V, by A/D converter by mould
Analog quantity is converted into digital quantity and is used for measuring and calculating module.
It is poor by the angle work to six points before and after certain point to swat frequency, calculates instantaneous angular frequency, thus calculates one
A frequency for swatting the period.
The specific method is as follows：
The instantaneous angular frequency of i-th moment point is denoted as ωiIt is expressed as：
Ai-3~Ai+2Indicate that the angle value of i-th -3~i+2 moment points, f indicate sample frequency, calculate instantaneous angular frequency
ωiAfterwards, can be swatted according to the angular frequency a cycle (above flutter and under flutter maximum angular and be denoted as θmax) time, Jin Erji
Swatting frequency is denoted as F in real time for calculatingi：
Takeoff phase, motor pattern are flapping mode, and 3 drive gear wheel 2 of driving motor makees turnover movement, and gear wheel 2 is logical
Crossing crank 4A (4B) drives transmission rocking bar 5A (5B) to swing, and transmission rocking bar 5A (5B) drives wing master by rolling bearing 7A (7B)
Spar 6A (6B) is swatted up and down around rotating base 8A (8B)；Trigonometric expression fixing axle 10 is hanging at this time, not with the cunning on 2 face of gear wheel
18 inner wall of slot contacts (position-limiting action is played in 18 two side of sliding slot to connecting shaft 16 at this time), and gear wheel 2 is made normally to have enough to meet the need movement.
Cruising phase, the signal that control system receives are the fixed-wing mode signal that flapping wing is converted to predetermined angular, machine
The angular transducer 12 of the side the wing main spar 6A (6B) detects flapping wing aircraft and swats frequency, is more than setting threshold when swatting frequency
Value, motor control module make driving motor 3 be decelerated to swat frequency be less than given threshold.
Then, wing amplitude measuring and calculating module obtains current airfoils and swats angle information, swats frequency signal, and send
Shaft hole matching time control module is given, it is poor that shaft hole matching time control module makees current angular and the conversion angle received
Value calculates the time for starting fixed shaft hole and coordinating control module further according to frequency is currently swatted.
Its computational methods is：
In formula (4), tstartTo start the delay time of shaft hole matching, tkIt is rotated from initial angle for trigonometric expression fixing axle 10
To the time needed for fixed angles, θg、θcIndicate that predetermined angular and current airfoils angle, ω when fixed-wing are indicated when anterior angle speed respectively
Degree.
After delay time reaches, the operation of shaft hole matching control module is directly fixed；First, fixed shaft hole cooperation control
Module control initial angle is changed to fixed angles, i.e. 10 bottom of trigonometric expression fixing axle is rotated around babinet 9 to trigonometric expression fixing axle 10
Connecting shaft 16 can be slided along the sliding slot 18 on canine tooth wheel face, and axis hole (connecting shaft 16 and matching hole) starts to coordinate at this time.
Then, whether status check module detection axis hole successfully coordinates, and wing amplitude calculates module and measures wing angle simultaneously
Judge whether it is consistent with the conversion angle received, if coordinated successfully, motor control module controls driving motor 3
It shuts down rapidly, completes conversion.
Coordinate includes successfully following three kinds of situations：
If as shown in Fig. 2, when trigonometric expression fixing axle is fixed to position shown in matching hole 11A, the fixation of wing angle is about
30 °, shaft hole matching success achievees the purpose that lock gear wheel 2.
If as shown in figure 3, when trigonometric expression fixing axle is fixed to position shown in matching hole 11B, wing angle fix about-
5 °, shaft hole matching success achievees the purpose that lock gear wheel 2.
If as shown in figure 4, when trigonometric expression fixing axle is fixed to position shown in matching hole 11C, wing angle fix about-
15 °, shaft hole matching success achievees the purpose that lock gear wheel 2.
If cooperation is unsuccessful, control signal is back to fixed shaft hole cooperation control module, continues to operate by original flow,
Until shaft hole matching success.
Landing phases, the signal that control system receives are that fixed-wing is converted to flapping mode signal, fixed shaft hole cooperation
Control module is changed to initial angle by controlling fixed angles first, to cancel the cooperation of connecting shaft 16 and matching hole；It is specific to execute
Mode is：10 bottom end of trigonometric expression fixing axle turns to 10 liang of connecting shafts 16 of trigonometric expression fixing axle and 2 thickness of gear wheel around babinet 9
It is identical, cancel the cooperation of connecting shaft 16 and matching hole with this.
Then, whether status check module detection axis hole successfully discharges, if discharged successfully, driving motor control is opened rapidly
Dynamic driving motor 3, pinion gear make gear motion with gear wheel 2, and gear wheel 2 drives crank 4A (4B) to make circumference turnover movement, into
And transmission rocking bar 5A (5B) is driven to swing；It is driven rocking bar 5A (5B) and wing main spar 6A (6B) is driven by rolling bearing 7A (7B)
It is swatted up and down around rotating base 8A (8B), completes conversion.
If release is unsuccessful, control signal is back to fixed shaft hole cooperation control module, continues to operate by original flow,
Until axis hole discharges successfully.
The application can realize that flapping wing takes off, fixed-wing cruises, to reach in small place, the quick landing of complex condition,
It breaks away from the dependence to special landing runway, in addition has both the advantage of fixed wing aircraft again in cruising phase, i.e., efficient, cruise speed
Degree is fast；It is different with completion to adapt to different flight environment of vehicle the angle of fixed-wing can neatly to be changed in cruising phase simultaneously
Aerial mission.
The foregoing is merely the preferred embodiments of the application, are not intended to limit this application, for the skill of this field
For art personnel, the application can have various modifications and variations.Within the spirit and principles of this application, any made by repair
Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.
Claims (10)
1. a kind of realizing the system for flutterring solid wing structure multi-angle accurate transformation, which is characterized in that be including driving device and control
System, driving device connect a gear wheel by transmission mechanism, and gear wheel both sides are respectively equipped with a concentric sliding slot, sliding
Axis connection control system is fixed in slot both sides by trigonometric expression；
The center both sides of gear wheel connect wing main spar by crank and rocker mechanism respectively, and wing main spar turns with fuselage girder
The rotation of dynamic connection, gear wheel drives the realization of wing main spar to swat operation；
The amplitude of swatting of wing main spar is detected by the angular transducer for being installed on fuselage girder side, and angular transducer will detect
Signal reaches control system, and control system control trigonometric expression fixing axle is matched with a certain matching hole in sliding slot, and realization is flutterred the solid wing and turned
It changes.
2. a kind of the system for flutterring solid wing structure multi-angle accurate transformation is realized according to claim 1, which is characterized in that institute
It states interval setpoint distance in sliding slot and multiple matching holes is set, angle is swatted not when trigonometric expression fixing axle is connected from different matching holes
Together.
3. a kind of the system for flutterring solid wing structure multi-angle accurate transformation is realized according to claim 1, which is characterized in that institute
It states gear wheel center and is fixed with central shaft, central shaft both ends are separately connected crank and rocker mechanism；
The crank and rocker mechanism includes crank and transmission rocking bar, and crank one end is connected with central shaft, the crank other end and transmission
Rocking bar one end is hinged；The transmission rocking bar other end is divided into two sections, and itself and the rotation axis that is set on the outside of wing girder frame
It holds hinged.
4. a kind of the system for flutterring solid wing structure multi-angle accurate transformation is realized according to claim 1, which is characterized in that institute
It includes two groups to state trigonometric expression fixing axle, and each group of trigonometric expression fixing axle includes first connecting rod and second connecting rod；First connecting rod and
The end of two connecting rods is connected by connecting shaft compatible with sliding slot.
5. a kind of the system for flutterring solid wing structure multi-angle accurate transformation is realized according to claim 4, it is characterised in that
One connecting rod and second connecting rod head end are rotatablely connected with control system respectively, and are driven by stepper motor big to change fixed angles
It is small.
6. a kind of the system for flutterring solid wing structure multi-angle accurate transformation is realized according to claim 1, which is characterized in that institute
It states fuselage body frame both sides and is separately installed with rotating base, the wing main spar is connected by rotary shaft with rotating base, rotation
Side of base fixed angle sensor.
7. a kind of the system for flutterring solid wing structure multi-angle accurate transformation is realized according to claim 1, which is characterized in that institute
It is driving motor to state driving device, and driving motor is connected with the pinion gear being meshed with the gear wheel.
8. a kind of the system for flutterring solid wing structure multi-angle accurate transformation is realized according to claim 1, which is characterized in that institute
It includes babinet to state control system, and controller is arranged in box house, and the bottom of box is connected by shaft with trigonometric expression fixing axle.
9. the operating method of the system of solid wing structure multi-angle accurate transformation is flutterred according to any realizations of claim 1-8,
It is characterized by comprising the following steps：
Step (1) takeoff phase, motor pattern are flapping mode, and driving motor drive gear wheel rotates, and gear wheel passes through crank
Transmission rocking bar is driven to swing, transmission rocking bar drives wing main spar to be swatted up and down around rotating base by rolling bearing；At this time three
Angie type fixing axle is hanging, is not contacted with canine tooth wheel side sliding slot；
Step (2) cruising phase, control system judgement swat whether frequency meets given threshold, and swat angle letter according to current
Breath swats frequency, to obtain the shaft hole matching time；Fixed angles are changed to by controlling initial angle, axis hole is made to start to coordinate,
And control system judges whether axis hole successfully coordinates；After axis hole successfully coordinates, it is converted to fixed-wing state；
Step (3) landing phases are changed to initial angle by controlling fixed angles, trigonometric expression fixing axle are made to be detached from matching hole；When
Start driving motor when axis hole completely disengages, is converted to flapping wing state.
10. the operating method according to claim 9 for realizing the system for flutterring solid wing structure multi-angle accurate transformation, feature
It is, when swatting frequency more than given threshold, control system control driving motor, which is decelerated to, swats frequency less than given threshold.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108382582A (en) * | 2018-03-15 | 2018-08-10 | 山东大学 | A kind of electromechanical assembly and aircraft that can be achieved to flutter solid wing structure conversion |
| CN112046743A (en) * | 2020-09-15 | 2020-12-08 | 李得正 | Flight control device and control method of bionic bird aircraft |
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| CN108382582A (en) * | 2018-03-15 | 2018-08-10 | 山东大学 | A kind of electromechanical assembly and aircraft that can be achieved to flutter solid wing structure conversion |
| CN108382582B (en) * | 2018-03-15 | 2024-03-12 | 山东大学 | Electromechanical device capable of realizing conversion of flapping-fixing wing structure and aircraft |
| CN112046743A (en) * | 2020-09-15 | 2020-12-08 | 李得正 | Flight control device and control method of bionic bird aircraft |
| WO2023055319A1 (en) * | 2021-09-29 | 2023-04-06 | Tusas- Turk Havacilik Ve Uzay Sanayii Anonim Sirketi | A fixed-wing control mechanism |
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| CN108750105B (en) | 2023-07-18 |
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