CN109502017A - A kind of bionical unmanned plane of topological optimization and its design method - Google Patents
A kind of bionical unmanned plane of topological optimization and its design method Download PDFInfo
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- CN109502017A CN109502017A CN201811484678.6A CN201811484678A CN109502017A CN 109502017 A CN109502017 A CN 109502017A CN 201811484678 A CN201811484678 A CN 201811484678A CN 109502017 A CN109502017 A CN 109502017A
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- 238000005457 optimization Methods 0.000 title claims abstract description 71
- 238000013461 design Methods 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims abstract description 26
- 239000000463 material Substances 0.000 claims abstract description 13
- 230000035945 sensitivity Effects 0.000 claims description 24
- 238000001914 filtration Methods 0.000 claims description 12
- 238000010146 3D printing Methods 0.000 claims description 7
- 239000011159 matrix material Substances 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000012804 iterative process Methods 0.000 claims description 3
- 238000013433 optimization analysis Methods 0.000 claims description 3
- 238000004513 sizing Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 10
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 abstract description 3
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- 238000004519 manufacturing process Methods 0.000 description 7
- 238000004458 analytical method Methods 0.000 description 2
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
Abstract
The present invention relates to a kind of bionical unmanned plane of topological optimization and its design methods, including fuselage, horn, battery, motor, propeller, rotor, video camera, GPS system and flight control system.Using material inefficient in topological optimization technology removal unmanned aerial vehicle design, mitigate the self weight of unmanned plane, to improve the bearing capacity of unmanned plane, flight time and acceleration.Abstract designs step are as follows: firstly, according to the useful load of unmanned plane and the size of Functional Design rotor and propeller and being modeled；Then, the principle that more loads are born according to stabilized flight and as far as possible selects suitable fuselage material.Structure optimization finally is carried out to unmanned plane main body frame using optimization software, and sets corresponding target component.The bionical unmanned plane that the present invention designs significantly reduces fuselage and is self-possessed and has been obviously improved flight cruising ability, and fuselage intensity is high and shape is naturally beautiful.
Description
Technical field
The present invention relates to a kind of bionical unmanned planes designed by topological optimization technology, belong to innovation structure field.
Background technique
Topological optimization is provided a kind of practical by automatically removing material inefficient in design field for lightweight design
Method.In addition, it can also bring inspiration to the aesthetics aspect of shape-designing.Therefore, topological optimization, which can not only be applied to, answers
Industrial design can also be applied in architectural design.Since 1988, in past 30 years, the structure design of some prevalences is opened up
Optimization method is flutterred to be developed.Wherein most popular certain methods are Homogenization methods, isotropic solid micro-structure densimetry,
Progressive structure optimization and Bi-directional evolutionary structural optimization.Evolutionary structural optimization proposes by thanking hundred million people and Steven earliest, this
Method is based on simple algorithm, and gradually the inefficient material in structure is deleted, so that structure " evolution " is optimal modality.By with
Ready-made commercial finite element analysis software is connected, and Evolutionary structural optimization can easily solve various quiet/dynamics
With the optimization problems such as stable structure.In the Bi-directional evolutionary structural optimization then proposed, material can be not only deleted, can be with
It is added to the most desirable position in structure.Evolutionary structural optimization and Bi-directional evolutionary structural optimization method are simple due to it
And effective algorithm, have been used to multiple actual engineering designs.
However, generated organic shape structure is generally difficult to manufacture, and which has limited this technologies due to the limitation of processing
Popularization.In recent years, new opportunity is brought as Topology Optimization Method by the commercialization advanced manufacturing methods represented of 3D printing,
This new technology can preferably manufacture complicated three-dimensional material and structure.Design requirement is increasingly stringenter in industry same
When, topological optimization shows that it finds the advantage of vpg connection in the innovation structure that classical production process can not manufacture.They are prominent
The limitation that classical production process makes labyrinth has been broken, has been large-scale application of the topological optimization in the design of multidisciplinary structure
Provide a possibility that new.
With the progress of world technology, computer technology is maked rapid progress, and intelligent, information-based and automation epoch are
It arrives, unmanned plane is the newborn baby of new science and technology, not only in military field, but also in agricultural, building, mapping, logistics and individual video
The civil fields such as recording all have wide practical use.By on the main frame structure of topological structure optimization technology unmanned plane,
Even more new opportunity is brought for this field.The design of bionical unmanned plane uses conceptual analysis, detailed design, emulation point
Analysis, small-scale prototype, the workflow of last prototype comprehensively carry out the structure optimization and manufacture of this bionical unmanned plane.This research
It is the expansion to unmanned plane body design field, is provided for flight control system and preferably support platform, further for other classes
The design of the multiple propeller unmanned plane of type also provides relevant technology and helps.
Summary of the invention
The purpose of the present invention is in view of the deficiencies of the prior art, topological structure optimization and 3D printing technique are combined, mention
For a kind of bionical unmanned plane of topological optimization and its design method, which improves stock utilization, greatly alleviates machine
Fuselage intensity is high while body is self-possessed, and shape is naturally beautiful.
The technical solution adopted by the present invention is that: a kind of bionical unmanned plane of topological optimization, including set by topological structure optimization
The fuselage sections of meter and horn part and battery, motor, fuselage bottom plate, propeller, rotor, video camera；
The fuselage sections are internally provided with electric discharge pond, motor, the cabin of video camera and control equipped with GPS system and flight
System processed, and battery and motor are separated by placement up and down with baffle；
The horn end reserving hole of the horn part is connected and fixed for rotor and propeller；
Relationship between the distance between the propeller radius of turn R and adjacent two axis D meets: 0.4D < R < 0.45D；
The quality of the fuselage sections and horn part by topological structure optimization design and the matter for optimizing preceding solid
Amount ratio is 10% and minimum thickness is 4mm；
The horn part free end travel s meets: s < 3.3mm；
The relationship of the fuselage sections quality m and unmanned plane gross mass M meets: m/M < 17%.
The bionical unmanned plane of topological optimization carries out topological structure optimization to fuselage main body frame by related software, and adopts
Obtained unmanned plane main body frame is manufactured with 3D printing technique, finally completes battery, motor, propeller, rotor photography
The assembly of machine.Unmanned plane main body frame part is optimized by Topology Optimization Method to reach and reduce fuselage material to subtract
The purpose of light dead-weight finally makes each section perfect combination and meets deformation and flight requirement.
Above topology optimizes the design method of bionical unmanned plane, comprising the following steps:
1) it determines the specification and size of each component part according to the useful load of unmanned plane and function, including propeller, turns
The specification and size of son, battery and motor etc. construct suitable initial scheme, and determine basic model.
2) initial model built up is subjected to structure optimization using topological optimization algorithm, analytic process is as follows:
Minimization principle is deferred to first, volume is constrained, and building guarantees the whole machine balancing of structure with minor function:
F=KU (3)
Wherein objective function is flexibility C；The vector of element relative density is X, therefore is binary variable vector；xeIt is
The design variable of e, practical institute's value are 1 (presence) or the minimum value for providing x；The sum of element is N；FTAnd UTIt is respectively whole
The transposed matrix of stress vector F and displacement vector U；Bulk stiffness matrix is K；The total volume of structure is V, and individual element volume is
ve；The value for applying confined volume is V*；The design sets 35% for volume fraction constraint.
Optimization design domain is designed as cuboid and increased in centre by next setting design domain and distributed load, the present invention
Line of symmetry constraint apply on non-design domain fuselage bottom plate when fuselage optimization design pressure at right angle (with fictitious load and other
Component), in the horizontal plane with apply torque on vertical plane and be set as 6 loading conditions (to simulate the different flight moulds of unmanned plane
On formula loading condition).
Each element is carried out with Bi-directional evolutionary structural optimization according to the optimization design domain and load set excellent
Change.The variation of each element design variable Element sensitivity αeIt indicates, is obtained by differential objective function C.
Original sensitivity processing is for minimum grid size when determining optimization analysis and then to determine filtering radius, is
This, uses simplified Element sensitivityFiltering scheme.
w(rej)=max (0, rmin-rej) (7)
rejFor the centre distance of element e and j, w is the weighting function of averagely original sensibility, rminRadius is filtered for minimum,
It is worth noting that, penalty coefficient ηjIt is unrelated with Sensitirity va1ue, it can calculate in advance.This programme with twice sizing grid most
Small filtering radius is calculated.Filtering scheme is to apply filter in each iteration.
It preferably solves in order to obtain, to the Element sensitivity in two-way gradual optimization iterative processIt is further average,
Obtain average sensitivityBy simply by the sensitivity of current iterationWith the sensitivity of preceding iterationIt is averaged.
Wherein k is current iteration
Vk+1=Vk(1±ert) (9)
Since design, structural volume is iteratively reduced by switch element state.In iteration, the mesh of next iteration
Standard type accumulates Vk+1It is based on current VkIt is determined with an evolution than ert.Then, element, which updates, is based on optiaml ciriterion, for most
Smallization problem can simply be programmed above formula.According to target volume and sensitivity design update scheme: determining threshold
Sensitivity is filtered lower than the element of target volume and target sensitivity, reaches final target volume by value.Reach target volume
Our required bionical unmanned plane main body frame models are produced afterwards.
3) will be acquired that optimum results are analyzed, by calculating the thrust of selected motor and propeller to analyze
Whether the horn free end travel of material selection initial designs meets the requirements, and examines whether stress and strain is subjected to, and obtains nobody
The optimum optimization model of machine main body frame.
4) it selects material appropriate and the unmanned plane main body frame after optimization is printed using 3D printing technique, and carry out electricity
The assembly in pond, motor, propeller, rotor and video camera.
The utility model has the advantages that the present invention is primary combination and the unmanned aerial vehicle design of topological optimization technology and unmanned plane field
The aesthetics of architecture also mitigates the self weight of unmanned plane with the primary combination of practicability while improving structure utilization efficiency, fuselage is strong
Degree is high and shape is naturally beautiful.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the bionical unmanned plane of topological optimization of the present invention；
Fig. 2 is the unmanned plane main body frame schematic diagram by topological structure optimization；
Fig. 3 is the side view of Fig. 2.
Description of symbols: 1- propeller；2- rotor；3- fuselage bottom plate；4- baffle；5- video camera；6- horn part；7-
Battery；8- motor；9- horn end；10- fuselage sections.
Specific embodiment
The present invention is described further with attached drawing combined with specific embodiments below:
As shown in Figure 1,2 and 3, the bionical unmanned plane of a kind of topological optimization, including the fuselage by topological structure optimization design
Part 10 and horn part 6 and battery 7, motor 8, fuselage bottom plate 3, propeller 1, rotor 2, video camera 5；
The fuselage sections 10 be internally provided with electric discharge pond 7, motor 8, the cabin of video camera 5 and equipped with GPS system and
Flight control system, and battery 7 and motor 8 are separated by placement up and down with baffle 4；
9 reserving hole of horn end of the horn part 6 is connected and fixed for rotor 2 and propeller 1；
Relationship between the distance between the 1 radius of turn R of propeller and adjacent two axis D meets: 0.4D < R < 0.45D；
Solid before the quality and optimization of the fuselage sections 10 and horn part 6 by topological structure optimization design
Mass ratio is 10% and minimum thickness is 4mm；
The 6 free end travel s of horn part meets: s < 3.3mm；
The relationship of the 10 mass m of fuselage sections and unmanned plane gross mass M meets: m/M < 17%.
The bionical unmanned plane of topological optimization carries out topological structure optimization to fuselage main body frame by related software, and adopts
Obtained unmanned plane main body frame is manufactured with 3D printing technique, finally completes battery, motor, propeller, rotor photography
The assembly of machine.Unmanned plane main body frame part is optimized by Topology Optimization Method to reach and reduce fuselage material to subtract
The purpose of light dead-weight finally makes each section perfect combination and meets deformation and flight requirement.
Above topology optimizes the design method of bionical unmanned plane, comprising the following steps:
1) it determines the specification and size of each component part according to the useful load of unmanned plane and function, including propeller, turns
The specification and size of son, battery and motor etc. construct suitable initial scheme, and determine basic model.
2) initial model built up is subjected to structure optimization using topological optimization algorithm, analytic process is as follows:
Minimization principle is deferred to first, volume is constrained, and building guarantees the whole machine balancing of structure with minor function:
F=KU (3)
Wherein objective function is flexibility C；The vector of element relative density is X, therefore is binary variable vector；xeIt is
The design variable of e, practical institute's value are 1 (presence) or the minimum value for providing x；The sum of element is N；FTAnd UTIt is respectively whole
The transposed matrix of stress vector F and displacement vector U；Bulk stiffness matrix is K；The total volume of structure is V, and individual element volume is
ve；The value for applying confined volume is V*；The design sets 35% for volume fraction constraint.
Optimization design domain is designed as cuboid and increased in centre by next setting design domain and distributed load, the present invention
Line of symmetry constraint apply on non-design domain fuselage bottom plate when fuselage optimization design pressure at right angle (with fictitious load and other
Component), in the horizontal plane with apply torque on vertical plane and be set as 6 loading conditions (to simulate the different flight moulds of unmanned plane
On formula loading condition).
Each element is carried out with Bi-directional evolutionary structural optimization according to the optimization design domain and load set excellent
Change.The variation of each element design variable Element sensitivity αeIt indicates, is obtained by differential objective function C.
Original sensitivity processing is for minimum grid size when determining optimization analysis and then to determine filtering radius, is
This, uses simplified Element sensitivityFiltering scheme.
w(rej)=max (0, rmin-rej) (7)
rejFor the centre distance of element e and j, w is the weighting function of averagely original sensibility, rminRadius is filtered for minimum,
It is worth noting that, penalty coefficient ηjIt is unrelated with Sensitirity va1ue, it can calculate in advance.This programme with twice sizing grid most
Small filtering radius is calculated.Filtering scheme is to apply filter in each iteration.
It preferably solves in order to obtain, to the Element sensitivity in two-way gradual optimization iterative processIt is further average,
Obtain average sensitivityBy simply by the sensitivity of current iterationWith the sensitivity of preceding iterationIt is averaged.
Wherein k is current iteration
Vk+1=Vk(1±ert) (9)
Since design, structural volume is iteratively reduced by switch element state.In iteration, the mesh of next iteration
Standard type accumulates Vk+1It is based on current VkIt is determined with an evolution than ert.Then, element, which updates, is based on optiaml ciriterion, for most
Smallization problem can simply be programmed above formula.According to target volume and sensitivity design update scheme: determining threshold
Sensitivity is filtered lower than the element of target volume and target sensitivity, reaches final target volume by value.Reach target volume
Our required bionical unmanned plane main body frame models are produced afterwards.
3) will be acquired that optimum results are analyzed, by calculating the thrust of selected motor and propeller to analyze
Whether the horn free end travel of material selection initial designs meets the requirements, and examines whether stress and strain is subjected to, and obtains nobody
The optimum optimization model of machine main body frame.
4) it selects material appropriate and the unmanned plane main body frame after optimization is printed using 3D printing technique, and carry out electricity
The assembly in pond, motor, propeller, rotor and video camera.
Embodiments of the present invention are described in detail in conjunction with attached drawing above, but the present invention is not limited to described reality
Apply mode.For those of ordinary skill in the art, in the range of the principle of the present invention and technical idea, to these implementations
Mode carries out a variety of variations, modification, replacement and deformation and still falls in protection scope of the present invention.
Claims (2)
1. a kind of bionical unmanned plane of topological optimization, it is characterised in that: including by topological structure optimization design fuselage sections and
Horn part and battery, motor, fuselage bottom plate, propeller, rotor, video camera；
The fuselage sections are internally provided with electric discharge pond, motor, the cabin of video camera and control system equipped with GPS system and flight
System, and battery and motor are separated by placement up and down with baffle；
The horn end reserving hole of the horn part is connected and fixed for rotor and propeller；
Relationship between the distance between the propeller radius of turn R and adjacent two axis D meets: 0.4D < R < 0.45D；
The quality of the fuselage sections and horn part by topological structure optimization design and the mass ratio for optimizing preceding solid
It is 4mm for 10% and minimum thickness；
The horn part free end travel s meets: s < 3.3mm；
The relationship of the fuselage sections quality m and unmanned plane gross mass M meets: m/M < 17%.
2. the design method of the bionical unmanned plane of topological optimization according to claim 1, it is characterised in that: including following step
It is rapid:
1) specification and size of each component part, including propeller, rotor, electricity are determined according to the useful load of unmanned plane and function
Pond and rating of machine and size construct suitable initial scheme, and determine basic model；
2) initial model built up is subjected to structure optimization using topological optimization algorithm, analytic process is as follows:
Minimization principle is deferred to first, volume is constrained, and building guarantees the whole machine balancing of structure with minor function:
F=KU (3)
Wherein objective function is flexibility C；The vector of element relative density is X, therefore is binary variable vector；xeIt is setting for e
Variable is counted, practical institute's value is 1 or provides the minimum value of x；The sum of element is N；FTAnd UTRespectively integrated stress vector F and
The transposed matrix of displacement vector U；Bulk stiffness matrix is K；The total volume of structure is V, and individual element volume is ve；Apply constraint
The value of volume is V*；The design sets 35% for volume fraction constraint；
Optimization design domain is designed as cuboid and increases line of symmetry about in centre by next setting design domain and distributed load
Beam applies pressure at right angle on non-design domain fuselage bottom plate when carrying out fuselage optimization design, in the horizontal plane with apply on vertical plane
Torque is simultaneously set as 6 loading conditions；
Each element is optimized with Bi-directional evolutionary structural optimization according to the optimization design domain and load that set；Often
The variation of one element design variable Element sensitivity αeIt indicates, is obtained by differential objective function C；
Original sensitivity processing is for minimum grid size when determining optimization analysis and then to determine filtering radius, for this purpose, making
With simplified Element sensitivityFiltering scheme；
w(rej)=max (0, rmin-rej) (7)
rejFor the centre distance of element e and j, w is the weighting function of averagely original sensibility, rminRadius, punishment are filtered for minimum
Coefficient ηjIt is unrelated with Sensitirity va1ue, radius is filtered with the minimum of twice sizing grid to be calculated；Filtering scheme is every
Filter is applied in secondary iteration；
It preferably solves in order to obtain, to the Element sensitivity in two-way gradual optimization iterative processIt is further average, it obtains
Average sensitivityBy simply by the sensitivity of current iterationWith the sensitivity of preceding iterationIt is averaged；
Wherein k is current iteration
Vk+1=Vk(1±ert) (9)
Since design, structural volume is iteratively reduced by switch element state；In iteration, the objective body of next iteration
Product Vk+1It is based on current VkIt is determined with an evolution than ert；Then, element, which updates, is based on optiaml ciriterion, for minimizing
Problem is simply programmed above formula；According to target volume and sensitivity design update scheme: threshold value, it will be clever
Sensitivity reaches final target volume lower than the filtering of the element of target volume and target sensitivity；It is produced after reaching target volume
Required bionical unmanned plane main body frame model is given birth to；
3) will be acquired that optimum results are analyzed, by the thrust selection to analyze for calculating selected motor and propeller
Whether the horn free end travel of material initial designs meets the requirements, and examines whether stress and strain is subjected to, and obtains unmanned owner
The optimum optimization model of body frame；
4) the unmanned plane main body frame after optimization is printed using 3D printing technique, and carries out battery, motor, propeller, rotor
With the assembly of video camera.
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| CN201811484678.6A CN109502017B (en) | 2018-12-06 | 2018-12-06 | Topology optimization bionic unmanned aerial vehicle and design method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111125818A (en) * | 2019-12-12 | 2020-05-08 | 河南大学 | Novel cross node based on bionic substructure topology optimization and optimization method |
| CN116401792A (en) * | 2023-06-06 | 2023-07-07 | 之江实验室 | Robot body design method |
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| US20100262406A1 (en) * | 2009-04-10 | 2010-10-14 | Livermore Software Technology Corporation | Topology optimization for designing engineering product |
| CN107416177A (en) * | 2017-06-22 | 2017-12-01 | 南京航空航天大学 | A kind of bionical spherical structure unmanned plane |
| CN107491086A (en) * | 2017-08-03 | 2017-12-19 | 哈尔滨工业大学深圳研究生院 | Unmanned plane formation obstacle avoidance and system under time-varying network topology |
| CN107914873A (en) * | 2017-11-13 | 2018-04-17 | 上海机电工程研究所 | Quadrotor propeller protective device |
| CN209209024U (en) * | 2018-12-06 | 2019-08-06 | 谢亿民工程科技南京有限公司 | A kind of bionical unmanned plane of topological optimization |
-
2018
- 2018-12-06 CN CN201811484678.6A patent/CN109502017B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100262406A1 (en) * | 2009-04-10 | 2010-10-14 | Livermore Software Technology Corporation | Topology optimization for designing engineering product |
| CN107416177A (en) * | 2017-06-22 | 2017-12-01 | 南京航空航天大学 | A kind of bionical spherical structure unmanned plane |
| CN107491086A (en) * | 2017-08-03 | 2017-12-19 | 哈尔滨工业大学深圳研究生院 | Unmanned plane formation obstacle avoidance and system under time-varying network topology |
| CN107914873A (en) * | 2017-11-13 | 2018-04-17 | 上海机电工程研究所 | Quadrotor propeller protective device |
| CN209209024U (en) * | 2018-12-06 | 2019-08-06 | 谢亿民工程科技南京有限公司 | A kind of bionical unmanned plane of topological optimization |
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| CN111125818A (en) * | 2019-12-12 | 2020-05-08 | 河南大学 | Novel cross node based on bionic substructure topology optimization and optimization method |
| CN116401792A (en) * | 2023-06-06 | 2023-07-07 | 之江实验室 | Robot body design method |
| CN116401792B (en) * | 2023-06-06 | 2023-09-19 | 之江实验室 | Robot body design method |
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| CN109502017B (en) | 2024-02-27 |
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