CN109502017B - Topology optimization bionic unmanned aerial vehicle and design method thereof - Google Patents
Topology optimization bionic unmanned aerial vehicle and design method thereof Download PDFInfo
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- 238000005457 optimization Methods 0.000 title claims abstract description 70
- 238000013461 design Methods 0.000 title claims abstract description 56
- 238000000034 method Methods 0.000 title claims abstract description 39
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 21
- 238000005516 engineering process Methods 0.000 claims abstract description 14
- 239000000463 material Substances 0.000 claims abstract description 13
- 230000035945 sensitivity Effects 0.000 claims description 35
- 230000000750 progressive effect Effects 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 238000001914 filtration Methods 0.000 claims description 9
- 238000004458 analytical method Methods 0.000 claims description 8
- 238000010146 3D printing Methods 0.000 claims description 7
- 230000002457 bidirectional effect Effects 0.000 claims description 7
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 4
- 238000012935 Averaging Methods 0.000 claims description 3
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Classifications
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- 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 invention relates to a topology optimization bionic unmanned aerial vehicle and a design method thereof. And the topology optimization technology is utilized to remove inefficient materials in the unmanned aerial vehicle design, so that the dead weight of the unmanned aerial vehicle is reduced, and the bearing capacity, the flight time and the acceleration of the unmanned aerial vehicle are improved. The method comprises the following steps of: firstly, designing the sizes of a rotor and a propeller according to the effective load and the function of an unmanned plane and modeling; then, the appropriate fuselage material is selected on the basis of the principle of stable flight and as much load as possible. And finally, carrying out structural optimization on the unmanned aerial vehicle main body frame by utilizing optimization software, and setting corresponding target parameters. The bionic unmanned aerial vehicle designed by the invention greatly lightens the dead weight of the body, obviously improves the flight endurance, and has high strength and natural and attractive appearance.
Description
Technical Field
The invention relates to a bionic unmanned aerial vehicle designed through a topology optimization technology, and belongs to the field of innovative structures.
Background
Topology optimization provides a practical method for lightweight design by automatically removing inefficient materials in the design field. In addition, it can also give the aesthetic aspect of the modeling design a sense of inspiration. Thus, topology optimization can be applied not only to industrial designs but also to architectural designs. Since 1988, some popular structural design topology optimization methods have been developed over the last 30 years. Some of the most popular methods are the homogenization method, the isotropic solid microstructure density method, the progressive structure optimization and the bi-directional progressive structure optimization. The progressive structural optimization method was first proposed by Xie Yimin and Steven, and is based on a simple algorithm to gradually delete inefficient materials in the structure, so as to "evolve" the structure into an optimal form. The progressive structural optimization method can conveniently solve various optimization problems such as static/dynamic and structural stability by being connected with existing commercial finite element analysis software. In the subsequently proposed bi-directional incremental structural optimization method, material can be not only deleted, but also added to the most needed part of the structure. The progressive structural optimization method and the bidirectional progressive structural optimization method have been used for a plurality of actual engineering designs due to their simple and effective algorithms.
However, the resulting organically shaped structures are often difficult to manufacture due to processing limitations, which limit the spread of such techniques. In recent years, commercial advanced manufacturing methods represented by 3D printing bring new opportunities for topology optimization methods, and the new technology can better manufacture complex three-dimensional materials and structures. While industry is increasingly demanding in terms of design, topology optimization shows its advantages in finding shapes for innovative structures that traditional manufacturing methods cannot make. The method breaks through the limitation of the traditional manufacturing method on the manufacturing of the complex structure, and provides new possibility for the large-scale application of the topology optimization in the multidisciplinary structural design.
With the progress of world science and technology, computer technology is gradually changed day by day, the age of intelligence, informatization and automation has arrived, and unmanned aerial vehicle is the new-technology obstetric, not only in the military field, but also in civil fields such as agriculture, building, mapping, logistics, personal video recording and the like, and has wide application prospect. The main body frame structure of the unmanned aerial vehicle for the topology optimization technology brings new opportunities for the field. The design of the bionic unmanned aerial vehicle adopts the concept analysis, the detail design, the simulation analysis, the small-scale prototype and the work flow of the comprehensive prototype, and the structural optimization and the manufacturing of the bionic unmanned aerial vehicle are carried out. The research is an expansion of the unmanned aerial vehicle body design field, provides a better support platform for a flight control system, and provides related technical assistance for the design of other types of multi-propeller unmanned aerial vehicles.
Disclosure of Invention
Aiming at the defects of the prior art, the invention combines topological structure optimization and 3D printing technology, and provides the topological optimization bionic unmanned aerial vehicle and the design method thereof.
The technical scheme adopted by the invention is as follows: a topology optimization bionic unmanned aerial vehicle comprises a body part and a horn part which are subjected to topology structure optimization design, and a battery, a motor, a body bottom plate, a propeller, a rotor and a camera;
the inside of the machine body part is provided with a discharge battery, a motor and a machine cabin of a camera, and is provided with a GPS system and a flight control system, and the battery and the motor are arranged up and down at intervals by a baffle plate;
a hole is reserved at the tail end of the horn part for connecting and fixing the rotor and the propeller;
the relationship between the rotating radius R of the propeller and the distance D between two adjacent shafts is as follows: 0.4d < r <0.45d;
the mass ratio of the mass of the fuselage part and the horn part which are subjected to topological structure optimization design to the mass of the solid before optimization is 10 percent and the minimum thickness is 4mm;
the arm part free end displacement s satisfies the following conditions: s <3.3mm;
the relation between the mass M of the fuselage part and the total mass M of the unmanned aerial vehicle is as follows: M/M <17%.
The topology optimization bionic unmanned aerial vehicle optimizes the topology structure of the main body frame of the unmanned aerial vehicle through related software, the main body frame of the unmanned aerial vehicle is manufactured by adopting a 3D printing technology, and finally, the assembly of a battery, a motor, a propeller and a rotor camera is completed. The main body frame part of the unmanned aerial vehicle is optimized through a topology optimization method so as to achieve the purpose of reducing the material of the main body and further reducing the dead weight, and finally, all parts are perfectly combined and meet the deformation and flight requirements.
The design method of the topology optimization bionic unmanned aerial vehicle comprises the following steps:
1) And determining the specification and the size of each component part including the specification and the size of a propeller, a rotor, a battery, a motor and the like according to the effective load and the function of the unmanned aerial vehicle, constructing a proper initial scheme, and determining a basic model.
2) Carrying out structural optimization on the built initial model by adopting a topology optimization algorithm, wherein the analysis process is as follows:
firstly, the volume is constrained according to a minimization principle, and the following functions are constructed to ensure the overall balance of the structure:
F＝KU (3)
wherein the objective function is compliance C; the vector of the relative densities of the elements is X, and is thus a binary variable vector; x is x e Is a design variable of e, and the actual value is 1 (existing) or the minimum value of specified x; the total number of elements is N; f (F) T And U T The transposed matrices of the integral stress vector F and the displacement vector U are respectively adopted; the overall rigidity matrix is K; the total volume of the structure is V, and the volume of a single element is V e The method comprises the steps of carrying out a first treatment on the surface of the The value of the imposed constraint volume is V * The method comprises the steps of carrying out a first treatment on the surface of the The present design sets the volume fraction constraint to 35%.
The invention designs the optimal design domain into a cuboid, adds symmetrical line constraint in the middle, applies vertical pressure on the fuselage floor of the non-design domain when carrying out fuselage optimization design (to simulate loads and other components), applies torque on the horizontal plane and the vertical plane, and sets 6 load conditions (to simulate different flight mode load conditions of the unmanned aerial vehicle).
And optimizing each element by using a bidirectional progressive structural optimization method according to the set optimization design domain and the load. Element sensitivity alpha for variation of each element design variable e Representing the result of the differential objective function C.
The original sensitivity processing is to determine the minimum mesh size for optimal analysis and thus the filter radius, for which simplified element sensitivity is usedFiltration protocol.
w(r ej )＝max(0，r min -r ej ) (7)
r ej For the center distance of elements e and j, w is a weighted function of the average raw sensitivity, r min For the minimum filter radius, it is noted that the penalty factor η j Independent of the sensitivity value, it can be calculated in advance. The present solution calculates with a minimum filter radius of twice the mesh size. The filtering scheme is to apply a filter in each iteration.
To obtain a better solution, the element sensitivity in the iterative process of the bidirectional progressive optimization method is improvedFurther averaging, an average sensitivity is obtained>By simply putting the sensitivity of the current iteration +.>Sensitivity to previous iteration->And taking an average value.
Where k is the current iteration
V k+1 ＝V k (1±ert) (9)
Starting from the design, the structure volume is iteratively reduced by switching element states. In an iteration, the target volume V of the next iteration k+1 Based on the current V k And an evolution ratio ert. The element update is then based on the optimization criteria, and the above formula can be simply programmed for minimizing problems. And (3) designing an updating scheme according to the target volume and the sensitivity, namely determining a threshold value, and filtering elements with the sensitivity lower than the target volume and the target sensitivity to achieve the final target volume. After reaching the target volume, the required bionic unmanned aerial vehicle main body frame model is generated.
3) Analyzing the obtained optimization result, analyzing whether the displacement of the free end of the horn originally designed by the selected material meets the requirement or not by calculating the thrust of the selected motor and the propeller, and checking whether the stress and the strain are acceptable or not to obtain the optimal optimization model of the main body frame of the unmanned aerial vehicle.
4) And selecting proper materials, printing out an optimized unmanned aerial vehicle main body frame by adopting a 3D printing technology, and assembling a battery, a motor, a propeller, a rotor and a camera.
The beneficial effects are that: the invention is one-time combination of a topology optimization technology and the unmanned aerial vehicle field, is also one-time combination of building aesthetics and practicability of unmanned aerial vehicle design, reduces dead weight of the unmanned aerial vehicle while improving structure utilization efficiency, and has high body strength and natural and attractive appearance.
Drawings
FIG. 1 is a schematic structural diagram of a topology optimized bionic unmanned aerial vehicle of the invention;
fig. 2 is a schematic diagram of a topology optimized unmanned aerial vehicle main body frame;
fig. 3 is a side view of fig. 2.
Reference numerals illustrate: 1-a propeller; 2-rotor; 3-fuselage floor; 4-baffle plates; 5-camera; 6-horn section; 7-cell; 8-a motor; 9-arm end; 10-fuselage section.
Detailed Description
The invention is further described below with reference to specific embodiments and the accompanying drawings:
as shown in fig. 1, 2 and 3, a topology optimization bionic unmanned aerial vehicle comprises a body part 10 and a horn part 6 which are subjected to topology optimization design, a battery 7, a motor 8, a body bottom plate 3, a propeller 1, a rotor 2 and a camera 5;
the inside of the body part 10 is provided with a discharge cell 7, a motor 8 and a cabin of the camera 5, and is provided with a GPS system and a flight control system, and the cell 7 and the motor 8 are arranged up and down at intervals by a baffle 4;
the horn tail end 9 of the horn part 6 is reserved with a hole for connecting and fixing the rotor 2 and the propeller 1;
the relationship between the rotating radius R of the propeller 1 and the distance D between two adjacent shafts is as follows: 0.4d < r <0.45d;
the mass ratio of the body part 10 and the horn part 6 which are subjected to topological structure optimization design to the solid before optimization is 10 percent and the minimum thickness is 4mm;
the arm portion 6 free end displacement s satisfies: s <3.3mm;
the relation between the mass M of the fuselage section 10 and the total mass M of the unmanned aerial vehicle satisfies the following conditions: M/M <17%.
The topology optimization bionic unmanned aerial vehicle optimizes the topology structure of the main body frame of the unmanned aerial vehicle through related software, the main body frame of the unmanned aerial vehicle is manufactured by adopting a 3D printing technology, and finally, the assembly of a battery, a motor, a propeller and a rotor camera is completed. The main body frame part of the unmanned aerial vehicle is optimized through a topology optimization method so as to achieve the purpose of reducing the material of the main body and further reducing the dead weight, and finally, all parts are perfectly combined and meet the deformation and flight requirements.
The design method of the topology optimization bionic unmanned aerial vehicle comprises the following steps:
1) And determining the specification and the size of each component part including the specification and the size of a propeller, a rotor, a battery, a motor and the like according to the effective load and the function of the unmanned aerial vehicle, constructing a proper initial scheme, and determining a basic model.
2) Carrying out structural optimization on the built initial model by adopting a topology optimization algorithm, wherein the analysis process is as follows:
firstly, the volume is constrained according to a minimization principle, and the following functions are constructed to ensure the overall balance of the structure:
F＝KU (3)
wherein the objective function is compliance C; the vector of the relative densities of the elements is X, and is thus a binary variable vector; x is x e Is a design variable of e, and the actual value is 1 (existing) or the minimum value of specified x; the total number of elements is N; f (F) T And U T The transposed matrices of the integral stress vector F and the displacement vector U are respectively adopted; the overall rigidity matrix is K; the total volume of the structure is V, and the volume of a single element is V e The method comprises the steps of carrying out a first treatment on the surface of the The value of the imposed constraint volume is V * The method comprises the steps of carrying out a first treatment on the surface of the The present design sets the volume fraction constraint to 35%.
The invention designs the optimal design domain into a cuboid, adds symmetrical line constraint in the middle, applies vertical pressure on the fuselage floor of the non-design domain when carrying out fuselage optimization design (to simulate loads and other components), applies torque on the horizontal plane and the vertical plane, and sets 6 load conditions (to simulate different flight mode load conditions of the unmanned aerial vehicle).
And optimizing each element by using a bidirectional progressive structural optimization method according to the set optimization design domain and the load. Element sensitivity alpha for variation of each element design variable e Representing the result of the differential objective function C.
The original sensitivity processing is to determine the minimum mesh size for optimal analysis and thus the filter radius, for which simplified element sensitivity is usedFiltration protocol.
w(r ej )＝max(0，r min -r ej ) (7)
r ej For the center distance of elements e and j, w is a weighted function of the average raw sensitivity, r min For the minimum filter radius, it is noted that the penalty factor η j Independent of the sensitivity value, it can be calculated in advance. The present solution calculates with a minimum filter radius of twice the mesh size. The filtering scheme is to apply a filter in each iteration.
To obtain a better solution, the element sensitivity in the iterative process of the bidirectional progressive optimization method is improvedFurther averaging, an average sensitivity is obtained>By simply putting the sensitivity of the current iteration +.>Sensitivity to previous iteration->And taking an average value.
Where k is the current iteration
V k+1 ＝V k (1±ert) (9)
Starting from the design, the structure volume is iteratively reduced by switching element states. In an iteration, the target volume V of the next iteration k+1 Based on the current V k And an evolution ratio ert. The element update is then based on the optimization criteria, and the above formula can be simply programmed for minimizing problems. And (3) designing an updating scheme according to the target volume and the sensitivity, namely determining a threshold value, and filtering elements with the sensitivity lower than the target volume and the target sensitivity to achieve the final target volume. After reaching the target volume, the required bionic unmanned aerial vehicle main body frame model is generated.
3) Analyzing the obtained optimization result, analyzing whether the displacement of the free end of the horn originally designed by the selected material meets the requirement or not by calculating the thrust of the selected motor and the propeller, and checking whether the stress and the strain are acceptable or not to obtain the optimal optimization model of the main body frame of the unmanned aerial vehicle.
4) And selecting proper materials, printing out an optimized unmanned aerial vehicle main body frame by adopting a 3D printing technology, and assembling a battery, a motor, a propeller, a rotor and a camera.
The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the spirit and scope of the invention.
Claims (1)
1. A design method of a topology optimization bionic unmanned aerial vehicle is characterized by comprising the following steps of:
the topology optimization bionic unmanned aerial vehicle comprises: the device comprises a body part and a horn part which are subjected to topological structure optimization design, and a battery, a motor, a body bottom plate, a propeller, a rotor and a camera;
the inside of the machine body part is provided with a discharge battery, a motor and a machine cabin of a camera, and is provided with a GPS system and a flight control system, and the battery and the motor are arranged up and down at intervals by a baffle plate;
a hole is reserved at the tail end of the horn part for connecting and fixing the rotor and the propeller;
the relationship between the rotating radius R of the propeller and the distance D between two adjacent shafts is as follows: 0.4d < r <0.45d;
the mass ratio of the mass of the fuselage part and the horn part which are subjected to topological structure optimization design to the mass of the solid before optimization is 10 percent and the minimum thickness is 4mm;
the arm part free end displacement s satisfies the following conditions: s <3.3mm;
the relation between the mass M of the fuselage part and the total mass M of the unmanned aerial vehicle is as follows: M/M <17%;
the design method of the topology optimization bionic unmanned aerial vehicle comprises the following steps:
1) Determining the specification and the size of each component part including the specification and the size of a propeller, a rotor, a battery and a motor according to the effective load and the function of the unmanned aerial vehicle, constructing a proper initial scheme, and determining a basic model;
2) Carrying out structural optimization on the built initial model by adopting a topology optimization algorithm, wherein the analysis process is as follows:
firstly, the volume is constrained according to a minimization principle, and the following functions are constructed to ensure the overall balance of the structure:
F＝KU(3)
wherein the objective function is compliance C; the vector of the relative densities of the elements is X, and is thus a binary variable vector; x is x e Is a design variable of e, and the actual value is 1 or the minimum value of the specified x; the total number of elements is N; f (F) T And U T The transposed matrices of the integral stress vector F and the displacement vector U are respectively adopted; the overall rigidity matrix is K; the total volume of the structure is V, and the volume of a single element is V e The method comprises the steps of carrying out a first treatment on the surface of the The value of the imposed constraint volume is V * The method comprises the steps of carrying out a first treatment on the surface of the The design sets the volume fraction constraint to 35%;
setting a design domain and distributing loads, designing the optimal design domain into a cuboid, adding symmetrical line constraint in the middle, applying vertical pressure on a fuselage bottom plate of a non-design domain when carrying out fuselage optimal design, and applying torque on a horizontal plane and a vertical plane and setting the torque as 6 load conditions;
optimizing each element by a bidirectional progressive structural optimization method according to the set optimization design domain and the load; element sensitivity alpha for variation of each element design variable e Representing, derived from the differential objective function C;
the original sensitivity processing is to determine the minimum mesh size for optimal analysis and thus the filter radius, for which simplified element sensitivity is usedA filtration scheme;
w(r ej )＝max(0，r min -r ej ) (7)
r ej for the center distance of elements e and j, w is the average rawWeighting function of sensitivity, r min For the minimum filter radius, penalty coefficient η j Independent of the sensitivity value, the calculation is performed with a minimum filter radius twice the mesh size; the filtering scheme is to apply a filter in each iteration;
to obtain a better solution, the element sensitivity in the iterative process of the bidirectional progressive optimization method is improvedFurther averaging, an average sensitivity is obtained>By simply putting the sensitivity of the current iteration +.>Sensitivity to previous iteration->Taking an average value;
where k is the current iteration
V k+1 ＝V k (1±ert)(9)
Iteratively reducing the structural volume by switching element states, starting from design; in an iteration, the target volume V of the next iteration k+1 Based on the current V k And an evolution ratio ert; then, the element update is based on the optimal criterion, and for minimizing the problem, the above formula is simply programmed; determining a threshold value, and filtering elements with sensitivity lower than the target volume and the target sensitivity to reach the final target volume; after reaching the target volume, the required bionic unmanned aerial vehicle main body frame model is generated;
3) Analyzing the obtained optimization result, and analyzing whether the displacement of the free end of the horn originally designed by the selected material meets the requirement or not by calculating the thrust of the selected motor and the propeller, and checking whether the stress and the strain are acceptable or not to obtain an optimal optimization model of the main body frame of the unmanned aerial vehicle;
4) And printing out the optimized unmanned aerial vehicle main body frame by adopting a 3D printing technology, and assembling a battery, a motor, a propeller, a rotor and a camera.
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| 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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| 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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Address after: 211800 No. 1, Amber Road, Yongning Park, Pukou Economic Development Zone, Nanjing, Jiangsu Province Applicant after: Nanjing amoeba Engineering Structure Optimization Research Institute Co.,Ltd. Address before: 211800 No. 1, Amber Road, Yongning Park, Pukou Economic Development Zone, Nanjing, Jiangsu Province Applicant before: XIE ENGINEERING TECHNOLOGIES NANJING Co.,Ltd. |
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