CN110641696A - Control mechanism of bionic hummingbird flapping wing unmanned aerial vehicle based on wing deformation - Google Patents
Control mechanism of bionic hummingbird flapping wing unmanned aerial vehicle based on wing deformation Download PDFInfo
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Abstract
A control mechanism of a hummingbird-flapping-wing-imitating unmanned aerial vehicle based on wing deformation comprises a linear steering engine, a rotary steering engine, a linear steering engine base, a rotary steering engine base, a wing joint, a steering engine pull rod, a semi-cylindrical fastener, a rotary steering engine rocker arm, a wing root carbon rod, a wing joint spindle carbon rod, a rotary steering engine control carbon rod and other parts; the main parts are all obtained by using resin or nylon materials through a 3D printing processing mode, and the weight is very light; by utilizing two linear steering engines and one rotary steering engine, the full attitude control of 3 degrees of freedom of pitch (pitch), roll (roll) and yaw (yaw) is well realized; on the basis of realizing full attitude control, through the structural optimization design, a larger control angle of pitching, rolling and yawing is generated, which has very important significance for controlling the attitude of a prototype in a hovering flight state and provides a basis for the subsequent design of a light and compact flapping-wing prototype.
Description
Technical Field
The invention relates to a control mechanism of a bionic aircraft, and belongs to the technical field of unmanned aircrafts or robots.
Background
In recent years, with the vigorous development of bionic research and the increasing demand of domestic and foreign markets for unmanned aerial vehicles, the research on flapping wing unmanned aerial vehicles draws more and more attention. Compared with common fixed-wing and rotor crafts, the flapping-wing unmanned aerial vehicle has the remarkable advantages of high efficiency, light weight, strong maneuverability, low energy consumption and the like, has wide application prospect, and is mainly used for military investigation in the military field.
In the design of the flapping wing unmanned aerial vehicle, the design of a control mechanism is a very important ring. In the design of the control mechanism, there are mainly 2 control modes: control based on varying the plane of travel and control based on wing deformation. The control mode based on changing the stroke plane is that the stroke plane of the flapping wing is directly changed through the transmission of the mechanism, the control mode is direct, the bionic of bird movement is well realized, and the control method has very important research significance; but since each degree of freedom requires a separate motion mechanism for transmission, the overall design is relatively cumbersome. The control mode based on wing deformation is to control 3 postures through the control rod of the inner side of the control wing, and because only one controlled object is provided, 3 steering engines can be adopted to directly control the control rod, so that the weight of a control mechanism is greatly reduced, and the control mode has important significance for building a light flapping wing unmanned aerial vehicle capable of being applied to actual scenes.
Domestic bee bird-like flapping wing unmanned aerial vehicle control mechanism research based on steering engine drive and wing deformation has disclosed patents and includes: a hummingbird-imitating flapping-wing micro aircraft of Shanghai traffic university has the application number of CN201210282453 and the publication number of CN 102815399A; a miniature bionic flapping wing aircraft based on a single-crank double-rocker mechanism of Beijing aerospace university has the application number of CN201811569262 and the publication number of CN 109606675A; a bionic hummingbird aircraft of Beijing aerospace university has application number CN201810140193 and publication number CN 108438218A; an insect-imitating micro flapping wing aircraft of Harbin industrial university (Shenzhen) has the application number of CN201811590043 and the publication number of CN 109573019A. Similar studies abroad include model Nano Hummingbird, model KUBeetle, model Korea university and Colibri, model Brussel, university, as studied by American aviation Environment.
Most of the existing researches and inventions can not realize full attitude control of 3 degrees of freedom of pitching, rolling and yawing, can not generate enough moment control angle, and is lack of a control mechanism capable of generating larger control quantity.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a novel control mechanism of a hummingbird flapping wing simulating unmanned aerial vehicle based on wing deformation, and the mechanism can realize full attitude control of 3 degrees of freedom of pitching, rolling and yawing. On the basis of realizing full attitude control, through the structural optimization design, a larger pitching and yawing control angle can be generated, the control mechanism is more compact, and a foundation is provided for the subsequent design of a light and compact flapping wing prototype.
The technical scheme of the invention is as follows:
the control mechanism of the artificial hummingbird flapping wing unmanned aerial vehicle based on wing deformation comprises a rotary steering engine base and rotary steering engines fixed on the rotary steering engine base, the part is connected with a flapping wing driving mechanism through 4 cylindrical holes at the bottom, two ends of a shaft of each rotary steering engine are respectively fixed with a rotary steering engine rocker arm, the other ends of the two rotary steering engine rocker arms are respectively fixed with one end of a rotary steering engine control carbon rod, and the rotary steering engine control carbon rod penetrates through a straight notch at the bottom of the linear steering engine base and controls the movement of the linear steering engine base; the linear steering engine base is connected with the flapping wing driving mechanism through a hole in the upper part of the part, and the linear steering engine base and the flapping wing driving mechanism are in clearance fit, namely the linear steering engine base can rotate around a shaft of the flapping wing driving mechanism, so that the part is easy to disassemble and assemble; two linear steering engines are fixed on the wing joint main shaft carbon rods, the other ends of the two wing joints are fixed at two ends of the wing joint main shaft carbon rods, the wing joint main shaft carbon rods are fixed at the upper parts of the linear steering engine bases, the two ends of the wing joint main shaft carbon rods correspond to the wing joints, a wing root carbon rod is fixed at each end of each wing joint main shaft carbon rod, and the middle parts of the wing root carbon rods are fixed together with the corresponding wing joints.
Different control holes are formed in the wing joints, and pitching and yawing control angles with different amplitudes can be generated by changing the positions of the steering engine pull rods inserted into the holes in the wing joints; the rotary steering engine rocker arm is also provided with different control holes, and the installation position of the rotary steering engine control carbon rod on the rotary steering engine rocker arm can be changed to generate rolling control angles with different amplitudes.
The rotary steering engine base on set up the recess for fixed rotary steering engine is provided with 3 mounting holes simultaneously, is used for installing power and torque sensor, so that carry out the platform test experiment. The rotary steering engine is matched with the rotary steering engine base in a mode of adding glue into a groove.
The linear steering engine is connected with the linear steering engine seat in an adhesive mode. The both sides of straight line rudder frame respectively are provided with a pit for two fixed straight line steering wheel, and there are 3 protrusion cylinders at pit internal design, and these 3 cylinders cooperate with 3 holes of straight line steering wheel bottom respectively, so that fix a position the straight line steering wheel.
The wing joint main shaft carbon rod is fixedly connected with the linear steering engine seat in an interference fit manner; the wing joint and the wing joint main shaft carbon rod are in clearance fit to ensure that the wing joint has good freedom of movement, the wing joint is axially limited by the semi-cylindrical fastener, and the semi-circular fastener and the wing joint main shaft carbon rod are fixed in interference fit. The steering engine pull rod, the wing joints and the linear steering engine are in transition fit, and the steering engine pull rod and the wing joints are allowed to slightly rotate; and the wing root carbon rod and the wing joint are fastened by adopting an adhesive mode.
The rotary steering engine and the rotary steering engine rocker arm, and the rotary steering engine rocker arm and the rotary steering engine control carbon rod are in interference fit.
The main parts (the linear rudder base, the rotary rudder base, the wing joints and the semi-cylindrical fasteners) of the control mechanism are all obtained by a 3D printing processing mode by using resin or nylon materials, and the control mechanism is light in weight. The two linear steering engines drive the wing joints to rotate through the driving belts of the steering engine pull rods, so that the tail ends of the wing roots deflect forwards or backwards, pitching or yawing control torque is generated, and when the tail ends of the wing roots deflect forwards or backwards at the same time, the equivalent action point positions of the two wings generating lifting force move forwards or backwards at the same time, and pitching control torque is generated; when one side of the tail end of the wing root deflects forwards and one side deflects backwards in the opposite direction, the traction force generated by the two wings is different in magnitude, and a yaw control moment is generated. The rotary steering engine at the bottom drives the tail end of the wing root to deflect leftwards or rightwards through the hole groove at the bottom end of the linear steering engine base, and then drives one sides of wings at two sides to contract and one sides to relax, so that rolling control torque is generated. Different control holes are formed in the wing joints, and pitching and yawing control angles with different amplitudes can be generated by changing the positions of the steering engine pull rods inserted into the holes in the wing joints. If the steering engine pull rod is connected with the jack on the outer side, smaller pitching and yawing corner amplitude values can be generated; if connected to the inboard jack, large pitch and yaw angle amplitudes are produced, and the controllable angle amplitudes that can be produced in current designs are a minimum of 22.6 ° and a maximum of 39.8 °. The rotary steering engine rocker arm is also provided with different control holes, the rolling control angles with different amplitudes can be generated by changing the installation position of the rotary steering engine control carbon rod on the rotary steering engine rocker arm, and the amplitude of the controllable rotation angle capable of generating rolling in the current design is 44.4 degrees at the minimum and 50.5 degrees at the maximum.
The invention has the advantages and beneficial effects that:
the invention utilizes two linear steering engines and one rotary steering engine to better realize the full attitude control of 3 degrees of freedom of pitching, rolling and yawing; on the basis of realizing full attitude control, a larger control angle of pitching, rolling and yawing is generated through structural optimization design, and the method has great significance for controlling the attitude of a prototype in a hovering flight state; the main body parts (the linear rudder base, the rotary rudder base, the wing joints and the semi-cylindrical fasteners) are all obtained by using resin or nylon materials through a 3D printing processing mode, the weight is light, and a foundation is provided for the subsequent design of a light and compact flapping wing model machine.
Drawings
FIG. 1 is an assembly schematic diagram of a control mechanism of a simulated hummingbird flapping wing micro aircraft based on wing deformation.
FIG. 2 is a schematic front view of the entire flapping control mechanism of FIG. 1.
Fig. 3 is a schematic view of the pitch angle control of the control mechanism of fig. 1.
FIG. 4 is a schematic view of the yaw angle control of the control mechanism of FIG. 1.
Fig. 5 is a schematic view of the roll angle control of the control mechanism of fig. 1.
Fig. 6 is a structural schematic diagram of a linear steering engine seat.
Fig. 7 is a schematic view of a swivel rudder mount construction.
FIG. 8 is a schematic illustration of pitch and yaw degree of freedom control angle calculation.
Fig. 9 is a schematic diagram of roll degree of freedom control angle calculation.
In the figure, 1 is a linear steering engine base, 2 is a wing joint, 3 is a semi-cylindrical fastener, 4 is a wing joint main shaft carbon rod, 5 is a steering engine pull rod, 6 is a linear steering engine, 7 is a wing root carbon rod, 8 is a rotary steering engine control carbon rod, 9 is a rotary steering engine rocker arm, 10 is a rotary steering engine, and 11 is a rotary steering engine base.
Detailed Description
The following is a specific implementation of the present invention, but the present invention is not limited to this implementation in any way. It is noted that departures from the present disclosure within the scope of the present disclosure may be made without departing from the spirit or essential characteristics of the invention as defined by the appended claims.
The invention is described in more detail below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the control mechanism of the winged-wing-deformation-based hummingbird-simulated flapping-wing unmanned aerial vehicle comprises a rotary steering engine base 11 (see fig. 7 for specific structure) and a rotary steering engine 10 fixed on the rotary steering engine base, the part is connected with a flapping-wing driving mechanism through 4 cylindrical holes at the bottom, two rotary steering engine rocker arms 9 are respectively fixed at two ends of a rotary steering engine shaft, the other ends of the two rotary steering engine rocker arms are respectively fixed with one end of a rotary steering engine control carbon rod 8, and the rotary steering engine control carbon rod 8 penetrates through a straight notch at the bottom of a linear steering engine base 1 and controls the movement of the linear steering engine base 1; the linear rudder machine base 1 (the specific structure is shown in figure 6) is connected with the flapping wing driving mechanism through a hole at the upper part of the part, and the linear rudder machine base 1 and the flapping wing driving mechanism are in clearance fit, namely the linear rudder machine base 1 can rotate around a shaft of the flapping wing driving mechanism, so that the part is easy to disassemble and assemble; two linear steering engines 6 are fixed on the wing joint carbon rod, a steering engine pull rod 5 (shown in figures 3 and 4) is fixed on each linear steering engine 6, the other end of each steering engine pull rod 5 is hinged with one wing joint 2, the other ends of the two wing joints 2 are fixed on two ends of a wing joint main shaft carbon rod 4, the wing joint main shaft carbon rod 4 is fixed on the upper portion of a linear steering engine base 1, a wing root carbon rod 7 is fixed on two ends of the wing joint main shaft carbon rod 4 corresponding to each wing joint 2, and the middle portion of the wing root carbon rod 7 is fixed with the corresponding wing joint 2.
The mechanism is connected in the following way: 1) the linear steering engine 6 is connected with the linear steering engine base 1 in an adhesive mode, two pits are formed in two sides of the linear steering engine base 1 and used for fixing the two linear steering engines 6, 3 protruding cylinders are formed in the pits, the 3 thin cylinders are respectively matched with 3 holes in the bottom of each linear steering engine (see figure 6), and meanwhile, the linear steering engines 6 are convenient to position; 2) the wing joint main shaft carbon rod 4 and the linear rudder engine base 1 are fixedly connected together in an interference fit manner; 3) one end of the wing joint 2 is in clearance fit with the wing joint main shaft carbon rod 4 to ensure that the wing joint 2 has better freedom of movement, the semi-cylindrical fastener 3 is used for axial limiting, and the semi-circular fastener 3 is in interference fit with the wing joint main shaft carbon rod 4; 4) the other end of the wing joint 2 is connected with a linear steering engine 6 through a steering engine pull rod 5, and the steering engine pull rod 5, the wing joint 2 and the linear steering engine 6 are in transition fit and are allowed to slightly rotate; 5) the wing root carbon rod 7 and the wing joint 2 are fastened by adopting an adhesive method; 6) the rotary steering engine 10 transmits rotation to the linear steering engine base 1 through the rotary steering engine rocker arm 9 and the rotary steering engine control carbon rod 8, and the rotary steering engine 10 and the rotary steering engine rocker arm 9, the rotary steering engine rocker arm 9 and the rotary steering engine control carbon rod 8 are in interference fit; 7) the carbon rod 8 of the rotary steering engine passes through a straight notch at the bottom of the straight steering engine base 1, is restricted in the straight notch, adopts cylindrical surface matching, the straight steering engine base 1 and the flapping wing driving mechanism are fixed through a top end hole, and the rotary steering engine base is fixed with the flapping wing driving mechanism through 4 cylindrical holes at the bottom end; 8) the rotary steering engine 10 is matched with the rotary steering engine base 11 in a mode of adding glue into a groove.
The mechanism is controlled as follows:
1) the two linear steering engines 6 drive the wing joints 2 to rotate (swing) through the driving belt of the steering engine pull rod 5, so that the tail ends of the wing roots deflect forwards or backwards, and a pitching or yawing control moment is generated. When the tail ends of the wing roots deflect forwards or backwards at the same time, the equivalent action point positions of the two wings generating the lifting force move forwards or backwards at the same time, and a pitching control moment is generated, as shown in fig. 3; when one side of the tail end of the wing root deflects forwards and one side deflects backwards and reversely, the traction force generated by the two wings is different in magnitude, and a yaw control moment is generated, as shown in fig. 4. Different control holes are designed on the wing joints, and pitching and yawing control angles with different amplitudes can be generated by changing the positions of the insertion holes of the steering engine pull rod 5.
2) The rotary steering engine 10 at the bottom end drives the tail end of the wing root to deflect leftwards or rightwards through a hole groove (straight notch) at the bottom end of the linear steering engine base, so as to drive one side of the wings at two sides to contract and one side to relax, thereby generating rolling control torque, as shown in fig. 5.
The dimensions of the mechanism are calculated as follows:
1) for the control of the freedom degrees of pitching and yawing, the displacement h of the linear steering engine 6 moving up and down15mm, and d is the distance from the central rotating shaft16mm,9mm,12mm (as shown in fig. 8), the maximum range of rotation that can be achieved for each wing joint is obtained
The amplitude of the controllable rotation angle which can be produced by the two flank joints is 22.6 degrees at the minimum and 39.8 degrees at the maximum.
2) For controlling the degree of freedom of rolling, the radius of the rocker arm 9 of the rotary steering engine has two specifications r1When the rotary steering engine rocker arm 9 swings left and right, the offset amount of the rotary steering engine control carbon rod 8 in the height direction is allowed to be 2mm (as shown in fig. 9), so that the amplitude of the rolling rotation angle which can be generated by the engine body under the control of the rotary steering engine 10 is obtained as
The magnitude of the controllable roll rotation angle that can be produced is 44.4 deg. at a minimum and 50.5 deg. at a maximum.
The above description is of one embodiment of the present invention, and the description is only for illustrating one possible implementation method of the present invention, so as to enable the engineer to understand and reproduce the present invention, but not for limiting the implementation method of the present invention.
Claims (10)
1. Control mechanism of imitative hummingbird flapping wing unmanned vehicles based on wing deformation, its characterized in that: the control mechanism comprises a rotary steering engine base and rotary steering engines fixed on the rotary steering engine base, the rotary steering engine base is connected with a flapping wing driving mechanism through 4 cylindrical holes in the bottom, two rotary steering engine rocker arms are respectively fixed at two ends of a rotary steering engine shaft, the other ends of the two rotary steering engine rocker arms are respectively fixed with one end of a rotary steering engine control carbon rod, and the rotary steering engine control carbon rod penetrates through a straight notch in the bottom of the linear steering engine base and controls the motion of the linear steering engine base; the linear rudder base is connected with the flapping wing driving mechanism (not designed in the patent) through a hole in the upper part of the part, and the linear rudder base and the flapping wing driving mechanism are in clearance fit, namely the linear rudder base can rotate around a shaft of the flapping wing driving mechanism, so that the part is easy to disassemble and assemble; two linear steering engines are fixed on the wing joint main shaft carbon rods, the other ends of the two wing joints are fixed at two ends of the wing joint main shaft carbon rods, the wing joint main shaft carbon rods are fixed at the upper parts of the linear steering engine bases, the two ends of the wing joint main shaft carbon rods correspond to the wing joints, a wing root carbon rod is fixed at each end of each wing joint main shaft carbon rod, and the middle parts of the wing root carbon rods are fixed together with the corresponding wing joints.
2. The control mechanism of the winged-deformation-based hummingbird-flapping-wing-imitating unmanned aerial vehicle as claimed in claim 1, wherein the linear rudder base, the rotary rudder base and the wing joints are all obtained by 3D printing processing by using resin or nylon materials, and the control mechanism is light in weight.
3. The control mechanism of the winged-deformation-based hummingbird-flapping-wing-imitating unmanned aerial vehicle according to claim 1, wherein different control holes are formed in the wing joints, and the pitch and yaw control angles with different amplitudes can be generated by changing the positions of the steering engine pull rods inserted into the holes in the wing joints; the rotary steering engine rocker arm is also provided with different control holes, and the installation position of the rotary steering engine control carbon rod on the rotary steering engine rocker arm can be changed to generate rolling control angles with different amplitudes.
4. The control mechanism of the winged-deformation-based hummingbird-flapping-wing unmanned aerial vehicle as claimed in claim 1, wherein the base of the rotary steering engine is provided with a groove for fixing the rotary steering engine, and is also provided with 3 mounting holes for mounting force and torque sensors so as to carry out platform test experiments.
5. The control mechanism of the winged-deformation-based hummingbird-flapping-wing-imitating unmanned aerial vehicle according to claim 1, wherein the linear steering engine is connected with the linear steering engine seat in an adhesive manner.
6. The control mechanism of the winged-deformation-based hummingbird-flapping-wing-imitating unmanned aerial vehicle according to claim 5, wherein two recesses are respectively formed in two sides of the linear rudder base to fix two linear steering gears, and 3 protruding cylinders are designed in the recesses and respectively matched with 3 holes in the bottoms of the linear steering gears to position the linear steering gears.
7. The control mechanism of the winged-deformation-based hummingbird-flapping-wing-imitating unmanned aerial vehicle according to claim 1, wherein the wing joint main shaft carbon rod is fixedly connected with the linear steering engine seat in an interference fit manner; the wing joint and the wing joint main shaft carbon rod are in clearance fit to ensure that the wing joint has good freedom of movement, the wing joint is axially limited by the semi-cylindrical fastener, and the semi-circular fastener and the wing joint main shaft carbon rod are fixed in interference fit.
8. The control mechanism of the winged-deformation-based hummingbird-flapping-wing-imitating unmanned aerial vehicle as claimed in claim 1, wherein the steering engine pull rod, the wing joints and the linear steering engine are in transition fit, and slight rotation is allowed between the steering engine pull rod and the wing joints; and the wing root carbon rod and the wing joint are fastened by adopting an adhesive mode.
9. The control mechanism of the winged-deformation-based hummingbird-flapping-wing-imitating unmanned aerial vehicle according to claim 1, wherein the rotary steering engine and the rotary steering engine rocker arm, and the rotary steering engine rocker arm and the rotary steering engine control carbon rod are in interference fit.
10. The control mechanism of the winged-deformation-based hummingbird-flapping-wing-imitating unmanned aerial vehicle according to claim 1, wherein the rotary steering engine is matched with the rotary steering engine base in a manner of groove gluing.
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| CN113955082A (en) * | 2021-12-02 | 2022-01-21 | 北京航空航天大学 | Light control surface and hinge structure suitable for solar unmanned aerial vehicle |
| CN115447772A (en) * | 2022-10-25 | 2022-12-09 | 浙江大学 | Super-light structure and bionic hummingbird flapping-wing aircraft with control system |
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Application publication date: 20200103 |