CN110844066B - Flapping wing aircraft with tandem double-pair-wing structure and control method thereof - Google Patents
Flapping wing aircraft with tandem double-pair-wing structure and control method thereof Download PDFInfo
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- CN110844066B CN110844066B CN201911170390.6A CN201911170390A CN110844066B CN 110844066 B CN110844066 B CN 110844066B CN 201911170390 A CN201911170390 A CN 201911170390A CN 110844066 B CN110844066 B CN 110844066B
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Abstract
The invention relates to a series double-twin-wing flapping wing aircraft and a control method thereof. The flapping wing aircraft comprises an I-shaped aircraft body, a first serial wing and a second serial wing. The first tandem wing and the second tandem wing both comprise two wings. Four motors which are in one-to-one correspondence with the wings are arranged on the I-shaped machine body, and a gear is arranged on an output shaft of each motor. The left side and the right side of the I-shaped machine body are respectively provided with a rotating shaft, and each rotating shaft is rotatably connected with two wing driving gears. The wing and the wing driving gear are arranged in a one-to-one correspondence mode, and the wing is connected with the wing driving gear arranged in a corresponding mode. The gears are arranged in one-to-one correspondence with the wing driving gears, and the gears are meshed and connected with the wing driving gears correspondingly arranged. A torsion spring is arranged between each wing driving gear and the I-shaped machine body. The invention realizes the full-freedom attitude-controllable flight in the real sense, unifies two flight modes of level flight and hovering, and can also improve the air stagnation capacity and the moving radius of the flapping wing type aircraft.
Description
Technical Field
The invention relates to the technical field of aviation, in particular to a series double-pair-wing flapping wing aircraft and a control method thereof.
Background
The flapping wing type aircraft is an aircraft which realizes the propulsion flight and the attitude control of the aircraft through aerodynamic force and aerodynamic moment generated by flapping wings to flap air, and has the advantages of small volume, light weight, high flight energy conversion efficiency, low flight noise and the like. Flapping wing type aircrafts are generally divided into bird-like flapping wing aircrafts and Kun-like flapping wing aircrafts, and generally a rotary motor is adopted to drive a multi-stage mechanical transmission mechanism to convert rotary motion into swing motion so as to drive wings to realize propulsion flight. Bird-like ornithopters generally adopt a single-pair wing configuration, and in the aspect of aircraft attitude control, the flight attitude is generally adjusted by adjusting aerodynamic moment generated by an inclination angle of a control surface arranged on a horizontal or vertical tail wing rotating around a control surface rotating shaft; the imitation-wing flapping machine generally adopts a single-wing pair or double-wing pair layout, and realizes posture adjustment through torque generated by wing flapping and twisting modulation.
The traditional flapping wing type air vehicle mostly adopts a rotary motor to drive a multi-stage mechanical transmission mechanism to convert rotary motion into swing motion to drive wings to achieve flapping flight, and an actuator is used for adjusting the inclination angle of a control surface arranged on a horizontal tail wing and a vertical tail wing to generate aerodynamic torque to achieve attitude adjustment. The flapping-wing aircraft adopting the control method generally adopts a single-pair-wing layout, the rotary motion of a rotary motor is converted into the swing motion for driving the flapping of the wings through a mechanical transmission mechanism, and the pitching, rolling and yawing moments are generated by the control of the flapping and twisting motion modes of the wings so as to realize the flight attitude control.
Disclosure of Invention
The invention aims to provide a flapping wing aircraft with a tandem double-pair wing structure and a control method thereof, which solve the problem that the traditional flapping wing aircraft is difficult to realize full-freedom attitude control of pitching, rolling and yawing under flight modes such as level flight, hovering and the like, realize real full-freedom attitude controllable flight, unify the two flight modes of level flight and hovering, and improve the air stagnation capacity and the moving radius of the flapping wing aircraft.
In order to achieve the purpose, the invention adopts the following technical scheme:
a flapping wing aircraft with a tandem double-pair wing structure comprises an I-shaped aircraft body, and a tandem wing I and a tandem wing II which are respectively arranged on the left side and the right side of the I-shaped aircraft body; the first tandem wing and the second tandem wing both comprise two wings which are arranged in tandem and have the same structure; four motors which correspond to the wings one to one are mounted on the I-shaped machine body, and a gear is mounted on an output shaft of each motor; the left side and the right side of the I-shaped machine body are respectively provided with a rotating shaft, and each rotating shaft is rotatably connected with two wing driving gears; the wing and the wing driving gear are arranged in a one-to-one correspondence manner, and the wing is connected with the wing driving gear arranged in a corresponding manner; the gears are arranged in one-to-one correspondence with the wing driving gears and are meshed and connected with the wing driving gears correspondingly arranged; a torsion spring is arranged between each wing driving gear and the I-shaped machine body.
Furthermore, the I-shaped machine body comprises two fixing plates which are arranged in parallel and a connecting plate which is vertically connected between the two fixing plates; two ends of the fixing plate are respectively provided with a shaft hole; four motor bases are arranged on the connecting plate; and the motor base is respectively provided with a motor mounting hole and a first torsional spring fixing hole.
Furthermore, the wing comprises a wing main body and a first fixing screw hole formed in the inner side of the wing main body.
Further, the torsional spring includes the torsional spring main part and sets up two column bases at the originated both ends of torsional spring main part respectively.
Furthermore, the wing driving gear comprises a gear body and a fixed seat arranged at the outer end of the gear body; and the fixed seat is respectively provided with a shaft hole, a wing mounting groove, a second fixing screw hole and a second torsion spring fixing hole.
The invention also relates to a control method of the flapping wing aircraft with the tandem double-pair wing structure. The flapping wing aircraft comprises a flat flight mode and a hovering mode; the first tandem wing and the second tandem wing form a wing system of the flapping wing aircraft.
(1) In a flat flying mode, a wing a1 is arranged at the front left of the flapping wing aircraft, a wing b1 is arranged at the front right, a wing c1 is arranged at the rear right, and a wing d1 is arranged at the rear left; the positive direction of the X axis of a fuselage coordinate system of the flapping wing aircraft points to the direction of the nose of the aircraft, the positive direction of the Z axis is opposite to the direction of gravity acceleration g, and the Y axis is orthogonal to the X, Z axis and points to the right side from the left side of the fuselage. The amplitudes of wings a1 and d1 are average A of the amplitudes of wings a1, b1, c1 and d10Adding a flapping angle amplitude increment delta A; the amplitudes of wings b1 and c1 are average amplitude values A of wings a1, b1, c1 and d10The flapping angle amplitude increment deltaa is decreased. In the flat flying mode, the control method of the flapping wing air vehicle comprises the following steps:
(11) rolling movement
The flapping angle curves of the wings a1, b1, c1 and d1 are shifted to the left, the shift coefficient is 0-0.5, the lower flapping speed of the wings a1 and d1 is greater than the upper flapping speed, and the lower flapping speed of the wings b1 and c1 is less than the upper flapping speed under the driving action of the corresponding motors, gears and wing driving gears; at this time, the wing system will generate a moment tilting to the right about the X-axis of the fuselage coordinate system, and under this moment, the ornithopter tilts to the right about the X-axis of the fuselage coordinate system.
The flapping angle curves of the wings a1, b1, c1 and d1 are shifted to the right, the shift coefficient is 0.5-1, the lower flapping speed of the wings a1 and d1 is less than the upper flapping speed, and the lower flapping speed of the wings b1 and c1 is greater than the upper flapping speed under the driving action of the corresponding motor, gear and wing driving gear; at this time, the wing system will generate a tilting moment tilting to the left about the X-axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft will tilt to the left about the X-axis of the fuselage coordinate system.
(12) Pitching movement
Under the driving action of the corresponding motor, gear and wing driving gear, the flapping angle bisector of wings a1, b1, c1 and d1 in the flapping process shifts to the positive direction of the Z axis of the fuselage coordinate system, at the moment, the wing system generates a tilting moment which enables the nose to tilt downwards around the Y axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft tilts forwards around the Y axis of the fuselage coordinate system.
Under the driving action of the corresponding motor, the corresponding gear and the corresponding wing driving gear, the flapping angle bisector of the wings a1, b1, c1 and d1 in the flapping process is deviated towards the negative direction of the Z axis of the fuselage coordinate system, at the moment, the wing system generates a tilting moment which enables the nose to tilt upwards around the Y axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft tilts backwards around the Y axis of the fuselage coordinate system.
(13) Yawing motion
Under the driving action of the corresponding motor, gear and wing driving gear, when the flapping angle amplitude increment delta A in the flapping process of the wings a1, b1, c1 and d1 is a positive value, namely the flapping amplitude of the wings a1 and d1 is greater than that of the wings b1 and c1, at the moment, the propulsive force generated by the left wing of the flapping wing aircraft is greater than that generated by the right wing, the wing system generates a deflection moment which deflects rightwards around the Z axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft deflects rightwards around the Z axis of the fuselage coordinate system.
Under the driving action of the corresponding motor, gear and wing driving gear, when the flapping angle amplitude increment delta A in the flapping process of the wings a1, b1, c1 and d1 is a negative value, namely the flapping amplitude of the wings a1 and d1 is smaller than the flapping amplitude of the wings b1 and c1, at the moment, the propulsive force generated by the left wing of the flapping wing aircraft is smaller than the propulsive force generated by the right wing, the wing system generates a deflection moment deflected to the left around the Z axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft deflects to the left around the Z axis of the fuselage coordinate system.
(2) In the hovering mode, compared with a horizontal flying mode, the fuselage of the flapping wing aircraft rotates backward by 90 degrees around the Y axis of the fuselage coordinate system, so that the X axis of the fuselage coordinate system is parallel to the gravitational acceleration g and the direction of the gravitational acceleration g is opposite, the Y axis keeps the original mode pointing to the right side from the left side of the fuselage, and the Z axis is orthogonal to the X, Y axis; the flapping wings are arranged as follows: wing a2 at the upper left, wing b2 at the upper right, wing c2 at the lower right, and wing d2 at the lower left. The amplitudes of wings a2 and d2 are average A of the amplitudes of wings a2, b2, c2 and d20Adding a flapping angle amplitude increment delta A; the amplitudes of wings b2 and c2 are average amplitude values A of wings a2, b2, c2 and d20Under the hovering mode, the flapping angle amplitude increment delta A is reduced, and the control method of the flapping wing air vehicle comprises the following steps:
(21) rolling movement
Under the driving action of the corresponding motor, gear and wing driving gear, when the flapping angle amplitude increment delta A in the flapping process of the wings a2, b2, c2 and d2 is a positive value, namely the flapping amplitude of the wings a2 and d2 is larger than the flapping amplitude of the wings b2 and c2, at the moment, the propulsive force generated by the left wing of the flapping wing aircraft is larger than the propulsive force generated by the right wing, the wing system generates tilting moment tilting rightwards around the Z axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft tilts rightwards around the Z axis of the fuselage coordinate system.
Under the driving action of the corresponding motor, gear and wing driving gear, when the flapping angle amplitude increment delta A in the flapping process of the wings a2, b2, c2 and d2 is a negative value, namely the flapping amplitude of the wings a2 and d2 is smaller than that of the wings b2 and c2, at the moment, the propulsive force generated by the left wing of the flapping wing aircraft is smaller than that generated by the right wing, the wing system generates tilting moment tilting leftwards around the Z axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft tilts leftwards around the Z axis of the fuselage coordinate system.
(22) Pitching movement
Under the driving action of the corresponding motor, the corresponding gear and the corresponding wing driving gear, the flapping angle bisector of the wings a2, b2, c2 and d2 deviates to the positive direction of the Z axis of the fuselage coordinate system in the flapping process, at the moment, the wing system generates tilting moment for tilting the fuselage forwards around the Y axis of the fuselage coordinate system, and the aircraft tilts forwards around the Y axis of the fuselage coordinate system under the action of the moment.
Under the driving action of the corresponding motor, gear and wing driving gear, the flapping angle bisector of the wings a2, b2, c2 and d2 deviates towards the negative direction of the Z axis of the fuselage coordinate system in the flapping process, at the moment, the wing system generates a tilting moment which enables the fuselage to tilt backwards around the Y axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft tilts backwards around the Y axis of the fuselage coordinate system.
(23) Yawing motion
Under the driving action of the corresponding motor, the corresponding gear and the corresponding wing driving gear, flapping angle curves of the wings a2, b2, c2 and d2 are shifted to the left, the shift coefficient is between 0 and 0.5, namely the flapping speed of the wings a2 and d2 to the positive direction of the Z axis of a coordinate system of the machine body is less than the flapping speed to the negative direction of the Z axis, and the flapping speed of the wings b2 and c2 to the positive direction of the Z axis is greater than the flapping speed to the negative direction of the Z axis; at this time, the wing system will generate a yawing moment deflecting to the left around the X-axis of the fuselage coordinate system, and under the action of the yawing moment, the flapping wing aircraft will yaw to the left around the X-axis of the fuselage coordinate system.
Under the driving action of the corresponding motor, the corresponding gear and the corresponding wing driving gear, flapping angle curves of the wings a2, b2, c2 and d2 shift towards the right, the shift coefficient is between 0.5 and 1, namely the flapping speed of the wings a2 and d2 towards the positive direction of the Z axis of a coordinate system of the fuselage is greater than the flapping speed towards the negative direction of the Z axis, and the flapping speed of the wings b2 and c2 towards the positive direction of the Z axis is less than the flapping speed towards the negative direction of the Z axis; at this time, the wing system will generate a yawing moment which is deflected to the right around the X-axis of the fuselage coordinate system, and under the action of the yawing moment, the flapping wing aircraft will be deflected to the right around the X-axis of the fuselage coordinate system.
Compared with the prior art, the invention has the advantages that:
(1) the invention provides an ornithopter with a tandem double-pair-wing structure, wherein the tandem double-pair-wing structure is formed by arranging double pairs of wings in tandem front and back, and the tandem double-pair-wing layout mode can realize two flight modes of level flight and hovering. Aiming at the tandem double-pair wing configuration of the tandem double-pair wing flapping wing aircraft and the two flight modes of the tandem double-pair wing flapping wing aircraft, the invention also provides a control method of the flapping wing aircraft in the two flight modes of the flapping wing aircraft in the plane flight mode and the hovering mode respectively, so that the flapping wing aircraft can realize full-freedom controlled flight in the two flight modes.
(2) The invention abandons the control method for realizing the flight attitude adjustment by means of the pneumatic control surface, avoids the problem that the control surface area is too low and the control surface adjustment effect is lost under a small scale, and provides a wide space for the miniaturization design of the aircraft. In the driving method of the wing, the invention provides a direct driving method by means of a torsion spring, a motor and a primary reduction gear set, which directly reduces the number of drivers, greatly simplifies the mechanical structure of the aircraft, lightens the weight of the aircraft, and improves the loading capacity, the air stagnation capacity and the moving radius of the aircraft. The flapping wing aircraft with the tandem double-pair wing structure adopts a direct driving mode, realizes automatic return to a mechanical zero point through a torsion spring, and realizes measurement of the rotation angle of the wing by combining a rotary encoder on a motor.
Drawings
FIG. 1 is a schematic view of the overall structure of the flapping wing aircraft of the present invention;
FIG. 2 is a schematic view of the structure of the motor of the present invention;
FIG. 3 is a schematic view of the wing of the present invention;
FIG. 4 is a schematic structural view of an I-shaped fuselage of the present invention;
FIG. 5 is a schematic structural view of a positive torsion spring according to the present invention;
FIG. 6 is a schematic structural view of the anti-torsion spring of the present invention;
FIG. 7 is a schematic structural view of a positive wing drive gear of the present invention;
FIG. 8 is a schematic representation of the anti-wing drive gear of the present invention;
FIG. 9 is a schematic view of the construction of the spindle according to the present invention;
FIG. 10 is a schematic illustration of a flat-flight mode of the ornithopter of the present invention;
FIG. 11 is a schematic view of the hovering mode of the flapping wing aircraft of the present invention;
FIG. 12 is a schematic view of the wing motion parameters of the ornithopter of the present invention;
FIG. 13 is a graphical representation of a typical wing flapping angle of the ornithopter of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
the flapping wing aircraft with the tandem double-pair-wing structure shown in fig. 1 comprises an I-shaped aircraft body 13, and a tandem wing I and a tandem wing II which are respectively arranged on the left side and the right side of the I-shaped aircraft body 13. The first tandem wing and the second tandem wing both comprise two wings which are arranged in tandem and have the same structure. Four motors (17, 18, 112 and 113) which are in one-to-one correspondence with the four wings (11, 15, 114 and 117) are arranged on the I-shaped machine body 13. As shown in fig. 2, a gear 21 is mounted on the output shaft of each motor. The left side and the right side of the I-shaped machine body are respectively provided with a rotating shaft, and each rotating shaft is rotatably connected with two wing driving gears; the wing and the wing driving gear are arranged in a one-to-one correspondence manner, and the wing is connected with the wing driving gear arranged in a corresponding manner; the gears are arranged in one-to-one correspondence with the wing driving gears and are meshed and connected with the wing driving gears correspondingly arranged; a torsion spring is arranged between each wing driving gear and the I-shaped machine body 13. As shown in fig. 1, the number of the wing, the gear, the wing driving gear, the motor and the torsion spring is 4, and the four are arranged in a one-to-one correspondence manner. In fig. 1, the four wings are, in order from left to right and top to bottom, 11, 15, 114 and 117, respectively, in fig. 1. The four wing drive gears are 12, 14, 118 and 119 respectively in FIG. 1. The four motors are 17, 18, 112 and 113 in fig. 1, respectively. The four torsion springs are 16, 19, 115 and 116, respectively, in fig. 1. The wing 11, the wing driving gear 12, the motor 17 and the torsion spring 16 are a unit; wing 15, wing drive gear 14, motor 18 and torsion spring 19 are one unit; wing 114, wing drive gear 118, motor 112 and torsion spring 115 are one unit; wing 117, wing drive gear 119, motor 113 and torsion spring 116 are one unit. When the ornithopter is powered off, the wings 11, 15, 114 and 117 will return to their neutral positions by themselves under the action of the torsion springs 16, 19, 115 and 116. The neutral position is the position of the wing when the torsion spring is in the natural mode without the action of external force. When the flapping wing aircraft is powered on, the motor drives the gear arranged on the output shaft of the flapping wing aircraft to rotate, the gear drives the wing driving gear meshed with the gear to rotate around the rotating shaft, and the wing driving gear drives the wing fixedly connected with the gear to move. The flapping positions and speeds of the wings can be adjusted by controlling the rotation angles and rotation angular speeds of the four groups of motors.
As shown in fig. 4, the i-shaped body 13 includes two fixing plates arranged in parallel and a connecting plate vertically connected between the two fixing plates. And two ends of the fixing plate are respectively provided with a shaft hole, and the shaft holes are used for fixing the rotating shaft. The number of the shaft holes is four, and the number of the shaft holes is 41, 42, 413 and 414 in fig. 4. As shown in fig. 1, a rotating shaft 110 is provided between left end portions of the two fixing plates, and a rotating shaft 111 is provided between right end portions of the two fixing plates. The structure of the rotating shafts 110, 111 is shown in fig. 9, which is a cylindrical straight rod structure. Both ends of the rotation shaft 110 are fixed in the shaft holes 41 and 413, respectively, and are in interference fit with the shaft holes 41 and 413. Both ends of the rotating shaft 111 are fixed in the shaft holes 42 and 414, respectively, and are in interference fit with the shaft holes 42 and 414. Four motor bases are arranged on the connecting plate, and the four motor bases are respectively 45, 47, 411 and 412. A motor mounting hole and a torsion spring fixing hole I are formed in each motor base. The first torsion spring fixing hole is formed in the outer side wall of the motor base. The motor mounting holes on the four motor bases 45, 47, 411 and 412 are respectively 43, 44, 48 and 49. The four motors 17, 18, 112, and 113 are inserted into the motor mounting holes 43, 44, 48, and 49, respectively, and fixed by interference fit. The first torsion spring fixing hole on the motor base 47 is 46, and the first torsion spring fixing hole on the motor base 412 is 410.
As shown in fig. 3, the wing includes a wing body and a first fastening screw hole 31 formed inside the wing body.
As shown in fig. 7 and 8, the wing driving gear includes a gear body and a fixing seat disposed at an outer end of the gear body. And the fixed seat is respectively provided with a shaft hole, a wing mounting groove, a second fixing screw hole and a second torsion spring fixing hole. And the wing mounting groove is used for mounting and fixing the wings. The wing is inserted into the wing mounting groove, the first fixing screw hole 31 on the wing is arranged corresponding to the second fixing screw hole on the wing mounting groove, and the screw is inserted into the second fixing screw hole and the first fixing screw hole 31 and screwed tightly, so that the wing and the wing driving gear can be fixedly connected together. The shaft hole is used for the rotating shaft to penetrate through the middle of the shaft hole and is in clearance fit with the rotating shaft, so that the wing driving gear can rotate around the rotating shaft. As shown in fig. 1, wing drive gear 12 and wing drive gear 14 are symmetrically disposed about the web of the i-shaped fuselage, and wing drive gear 118 and wing drive gear 119 are symmetrically disposed about the web of the i-shaped fuselage. Wing drive gear 12 and wing drive gear 119 are positive wing drive gears, and their schematic structural diagrams are shown in fig. 7. The wing driving gear 14 and the wing driving gear 118 are anti-wing driving gears, and the schematic structural diagram thereof is shown in fig. 8. Wing mounting notches 72 and 82 allow wings 11 and 117 and wings 15 and 114 to be inserted therein, respectively, and fixing screw holes 73 and 83 formed therein to be engaged with fixing screw holes 31 formed in wings 11, 117, 15 and 114, respectively, so that wings 11, 117, 15 and 114 and wing driving gears 12, 119, 14 and 118 can be completely fixed by screwing screws. Wing drive gears 12, 119 and wing drive gears 14, 118 have second torsion spring fixing holes 74, 84, respectively, into which the second torsion springs 16, 116 and the second stubs 61, 51 of the second torsion springs 19, 115 can be inserted and completely fixed by interference fit. The shaft holes 71 and 81 on the wing driving gears 12 and 118 are in clearance fit with the rotating shaft 110, so that the wing driving gears can swing around the rotating shaft 110; the shaft holes 81, 71 of the wing drive gears 14, 119 are in clearance fit with the rotating shaft 111 so as to be capable of swinging around the rotating shaft 111. Finally, respective gears 21 on motors 17, 18, 112, 113 may drive wing drive gears 12, 14, 118, 119, respectively, under motor torque.
As shown in fig. 5 and 6, the torsion spring includes a torsion spring main body and two column bases respectively disposed at the initial ends of the torsion spring main body. One pedestal of the torsion spring is inserted into a torsion spring fixing hole II on the wing driving gear which is arranged corresponding to the torsion spring, and the other pedestal of the torsion spring is inserted into a torsion spring fixing hole I on a motor base where a motor which is arranged corresponding to the torsion spring is located. And the two column feet of the torsion spring are in interference fit with the first torsion spring fixing hole and the second torsion spring fixing hole respectively. As shown in fig. 1, the torsion springs 16 and 19 are symmetrically disposed about the connecting plate of the i-shaped body, and the torsion springs 115 and 116 are symmetrically disposed about the connecting plate of the i-shaped body. The torsion springs 16 and 115 are anti-torsion springs, and the schematic structural diagram thereof is shown in fig. 6. The torsion springs 19 and 116 are positive torsion springs, and the schematic structural diagram thereof is shown in fig. 5. The torsion springs 19 and the column feet 52 and 51 of the torsion spring 115 are respectively inserted into the first torsion spring fixing holes of the motor base 47 and the motor base 411 and fixed through interference fit; the column feet 62 and 61 of the torsion springs 16 and 116 are respectively inserted into the first torsion spring fixing holes of the motor bases 45 and 412, and are fixed through interference fit.
In fig. 1, the upper end of the rotating shaft 110 sequentially passes through the torsion spring 16 and the wing driving gear 12 and then is fixed in the shaft hole 41 at the upper left corner of the i-shaped machine body, and the lower end sequentially passes through the torsion spring 115 and the wing driving gear 118 and then is fixed in the shaft hole 413 at the lower left corner of the i-shaped machine body. The upper end of the rotating shaft 111 sequentially passes through the torsion spring 19 and the wing driving gear 14 and then is fixed in the shaft hole 42 at the upper right corner of the I-shaped machine body, and the lower end sequentially passes through the torsion spring 116 and the wing driving gear 119 and then is fixed in the shaft hole 414 at the lower right corner of the I-shaped machine body. The torsion spring has an axial limiting effect on the wing driving gear correspondingly arranged on one hand, and has a resetting effect on the wing and the gear when no external force is applied on the other hand. The axial direction refers to the central axis direction of the rotating shaft. Before the ornithopter is powered on, the motor has no driving torque, and the wings 11, 15, 114 and 117 restore to the neutral position by themselves under the action of the torsion springs 16, 19, 115 and 116. The motors 17, 18, 112, 113 adjust their rotational speeds by adjusting the driving voltages. When the flapping wing air vehicle is electrified, the wing neutral position is used as an initial zero point, the position of the wing can be detected in real time by means of an encoder integrated in the motor, the wing can be driven to any position by combining a motor voltage regulation mode, and the flapping position and the flapping speed of the wing can be regulated.
The flapping wing aircraft mentioned in the invention is an aircraft which realizes flight by aerodynamic force and aerodynamic moment generated by flapping wings to flap air. The flapping and twisting modulation of the flapping wing aircraft is a flight control mode that the flapping wing aircraft generates propelling force and flight attitude adjusting moment by adjusting the flapping angle and speed of wings and the twisting angle of wings. The invention also relates to a control method of the flapping-wing aircraft with the tandem double-pair-wing structure, which is based on the split control strategy and realizes the control of the propulsive force and the moment generated by the wing system by adjusting the flapping mode of the wings, thereby realizing the control of the propulsive flight and the attitude of the flapping-wing aircraft. The flapping wing air vehicle comprises a flat flight mode and a hovering mode. In fig. 10 and 11, an arrow g indicates a gravity acceleration vector. When the flapping wing air vehicle is in a flat flight mode, the wing of the flapping wing air vehicle is vertical to the gravity acceleration vector. In hover mode, its wings and gravitational acceleration vectors are parallel. For convenience of description, the four groups of wings in the flat flight state shown in fig. 10 are respectively numbered as wings a1, b1, c1 and d1, wherein the wing a1 is arranged at the front left, the wing b1 is arranged at the front right, the wing c1 is arranged at the rear right, and the wing d1 is arranged at the rear left. Similarly, the four groups of wings in the hovering state shown in fig. 11 are respectively numbered as wings a2, b2, c2 and d2, wherein the upper left is wing a2, the upper right is wing b2, the lower right is wing c2, and the lower left is wing d 2.
As shown in fig. 13, in the level flight and hovering modes, the flapping angles of the four groups of wings during flapping are in a cosine-like relationship with time within one flapping cycle. The wing flapping angle is defined as follows: when viewed from the nose end of the tandem double-pair-wing ornithopter,the wings are rotated counterclockwise through an angle about their respective axes of rotation from the neutral position. The offset coefficient represents the lowest point position of the flapping angle curve, and when the lowest point of the curve is at the middle point position of the period, the offset coefficient is 0.5, and the curve is a standard cosine curve; when the lowest point of the curve is deviated to the left position at the middle point of the period, the deviation coefficient is between 0 and 0.5; when the lowest point of the curve is deviated to the right position at the middle point of the period, the deviation coefficient is between 0.5 and 1. Flapping frequencies of wings a1(a2), b1(b2), c1(c2) and d1(d2) are always kept consistent, wherein the wings a1(a2) and d1(d2) and wings b1(b2) and c1(c2) respectively always keep 180-degree phase difference in the flapping process; the phases of the wings a1(a2) and b1(b2) are respectively 90 degrees ahead of the phases of the wings d1(d2) and c1(c2), and the rest flapping characteristic parameters are respectively kept consistent. As shown in FIG. 12, line l0And a straight line l1Each represents a flapping angle bisector of each of wings a1(a2), d1(d2), b1(b2), and c1(c2), and is shifted from the neutral position to the positive V-axis direction by an angle δ Φ; a. the0The average value of flapping amplitudes of the four groups of wings is obtained; δ a is the flapping angle amplitude increment between wings a1(a2), d1(d2), wings b1(b2), c1(c2), so the actual amplitude of wings a1(a2), d1(d2) is a0+ Δ A, the actual amplitude of wings b1(b2), c1(c2) is A0- δ A. The invention provides a control method of an ornithopter under two modes of hovering and flat flying aiming at the configuration characteristics of the ornithopter with a tandem double-pair-wing structure. Specifically, the method comprises the following steps:
(1) in a flat flying mode, a wing a1 is arranged at the front left of the flapping wing aircraft, a wing b1 is arranged at the front right, a wing c1 is arranged at the rear right, and a wing d1 is arranged at the rear left; the positive direction of the X axis of a fuselage coordinate system of the flapping wing aircraft points to the direction of the nose of the aircraft, the positive direction of the Z axis is opposite to the direction of gravity acceleration g, and the Y axis is orthogonal to the X, Z axis and points to the right side from the left side of the fuselage. The amplitudes of wings a1 and d1 are average A of the amplitudes of wings a1, b1, c1 and d10Adding a flapping angle amplitude increment delta A; the amplitudes of wings b1 and c1 are average amplitude values A of wings a1, b1, c1 and d10The flapping angle amplitude increment deltaa is decreased. In the flat flying mode, the control method of the flapping wing air vehicle comprises the following steps:
(11) rolling movement
The flapping angle curves of the wings a1, b1, c1 and d1 are shifted to the left, the shift coefficient is 0-0.5, the lower flapping speed of the wings a1 and d1 is greater than the upper flapping speed, and the lower flapping speed of the wings b1 and c1 is less than the upper flapping speed under the driving action of the corresponding motors, gears and wing driving gears; at this time, the wing system will generate a moment tilting to the right about the X-axis of the fuselage coordinate system, and under this moment, the ornithopter tilts to the right about the X-axis of the fuselage coordinate system.
The flapping angle curves of the wings a1, b1, c1 and d1 are shifted to the right, the shift coefficient is 0.5-1, the lower flapping speed of the wings a1 and d1 is less than the upper flapping speed, and the lower flapping speed of the wings b1 and c1 is greater than the upper flapping speed under the driving action of the corresponding motor, gear and wing driving gear; at this time, the wing system will generate a tilting moment tilting to the left about the X-axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft will tilt to the left about the X-axis of the fuselage coordinate system.
(12) Pitching movement
Under the driving action of the corresponding motor, gear and wing driving gear, the flapping angle bisector of wings a1, b1, c1 and d1 in the flapping process shifts to the positive direction of the Z axis of the fuselage coordinate system, at the moment, the wing system generates a tilting moment which enables the nose to tilt downwards around the Y axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft tilts forwards around the Y axis of the fuselage coordinate system.
Under the driving action of the corresponding motor, the corresponding gear and the corresponding wing driving gear, the flapping angle bisector of the wings a1, b1, c1 and d1 in the flapping process is deviated towards the negative direction of the Z axis of the fuselage coordinate system, at the moment, the wing system generates a tilting moment which enables the nose to tilt upwards around the Y axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft tilts backwards around the Y axis of the fuselage coordinate system.
(13) Yawing motion
Under the driving action of the corresponding motor, gear and wing driving gear, when the flapping angle amplitude increment delta A in the flapping process of the wings a1, b1, c1 and d1 is a positive value, namely the flapping amplitude of the wings a1 and d1 is greater than that of the wings b1 and c1, at the moment, the propulsive force generated by the left wing of the flapping wing aircraft is greater than that generated by the right wing, the wing system generates a deflection moment which deflects rightwards around the Z axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft deflects rightwards around the Z axis of the fuselage coordinate system.
Under the driving action of the corresponding motor, gear and wing driving gear, when the flapping angle amplitude increment delta A in the flapping process of the wings a1, b1, c1 and d1 is a negative value, namely the flapping amplitude of the wings a1 and d1 is smaller than the flapping amplitude of the wings b1 and c1, at the moment, the propulsive force generated by the left wing of the flapping wing aircraft is smaller than the propulsive force generated by the right wing, the wing system generates a deflection moment deflected to the left around the Z axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft deflects to the left around the Z axis of the fuselage coordinate system.
(2) In the hovering mode, compared with a horizontal flying mode, the fuselage of the flapping wing aircraft rotates backward by 90 degrees around the Y axis of the fuselage coordinate system, so that the X axis of the fuselage coordinate system is parallel to the gravitational acceleration g and the direction of the gravitational acceleration g is opposite, the Y axis keeps the original mode pointing to the right side from the left side of the fuselage, and the Z axis is orthogonal to the X, Y axis; the flapping wings are arranged as follows: wing a2 at the upper left, wing b2 at the upper right, wing c2 at the lower right, and wing d2 at the lower left. The amplitudes of wings a2 and d2 are average A of the amplitudes of wings a2, b2, c2 and d20Adding a flapping angle amplitude increment delta A; the amplitudes of wings b2 and c2 are average amplitude values A of wings a2, b2, c2 and d20Under the hovering mode, the flapping angle amplitude increment delta A is reduced, and the control method of the flapping wing air vehicle comprises the following steps:
(21) rolling movement
Under the driving action of the corresponding motor, gear and wing driving gear, when the flapping angle amplitude increment delta A in the flapping process of the wings a2, b2, c2 and d2 is a positive value, namely the flapping amplitude of the wings a2 and d2 is larger than the flapping amplitude of the wings b2 and c2, at the moment, the propulsive force generated by the left wing of the flapping wing aircraft is larger than the propulsive force generated by the right wing, the wing system generates tilting moment tilting rightwards around the Z axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft tilts rightwards around the Z axis of the fuselage coordinate system.
Under the driving action of the corresponding motor, gear and wing driving gear, when the flapping angle amplitude increment delta A in the flapping process of the wings a2, b2, c2 and d2 is a negative value, namely the flapping amplitude of the wings a2 and d2 is smaller than that of the wings b2 and c2, at the moment, the propulsive force generated by the left wing of the flapping wing aircraft is smaller than that generated by the right wing, the wing system generates tilting moment tilting leftwards around the Z axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft tilts leftwards around the Z axis of the fuselage coordinate system.
(22) Pitching movement
Under the driving action of the corresponding motor, the corresponding gear and the corresponding wing driving gear, the flapping angle bisector of the wings a2, b2, c2 and d2 deviates to the positive direction of the Z axis of the fuselage coordinate system in the flapping process, at the moment, the wing system generates tilting moment for tilting the fuselage forwards around the Y axis of the fuselage coordinate system, and the aircraft tilts forwards around the Y axis of the fuselage coordinate system under the action of the moment.
Under the driving action of the corresponding motor, gear and wing driving gear, the flapping angle bisector of the wings a2, b2, c2 and d2 deviates towards the negative direction of the Z axis of the fuselage coordinate system in the flapping process, at the moment, the wing system generates a tilting moment which enables the fuselage to tilt backwards around the Y axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft tilts backwards around the Y axis of the fuselage coordinate system.
(23) Yawing motion
Under the driving action of the corresponding motor, the corresponding gear and the corresponding wing driving gear, flapping angle curves of the wings a2, b2, c2 and d2 are shifted to the left, the shift coefficient is between 0 and 0.5, namely the flapping speed of the wings a2 and d2 to the positive direction of the Z axis of a coordinate system of the machine body is less than the flapping speed to the negative direction of the Z axis, and the flapping speed of the wings b2 and c2 to the positive direction of the Z axis is greater than the flapping speed to the negative direction of the Z axis; at this time, the wing system will generate a yawing moment deflecting to the left around the X-axis of the fuselage coordinate system, and under the action of the yawing moment, the flapping wing aircraft will yaw to the left around the X-axis of the fuselage coordinate system.
Under the driving action of the corresponding motor, the corresponding gear and the corresponding wing driving gear, flapping angle curves of the wings a2, b2, c2 and d2 shift towards the right, the shift coefficient is between 0.5 and 1, namely the flapping speed of the wings a2 and d2 towards the positive direction of the Z axis of a coordinate system of the fuselage is greater than the flapping speed towards the negative direction of the Z axis, and the flapping speed of the wings b2 and c2 towards the positive direction of the Z axis is less than the flapping speed towards the negative direction of the Z axis; at this time, the wing system will generate a yawing moment which is deflected to the right around the X-axis of the fuselage coordinate system, and under the action of the yawing moment, the flapping wing aircraft will be deflected to the right around the X-axis of the fuselage coordinate system.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (5)
1. The utility model provides a flapping wing aircraft of tandem pair wing structure which characterized in that: the wing-shaped aircraft comprises an I-shaped aircraft body, and a first serial wing and a second serial wing which are respectively arranged on the left side and the right side of the I-shaped aircraft body; the first tandem wing and the second tandem wing both comprise two wings which are arranged in tandem and have the same structure; four motors which correspond to the wings one to one are mounted on the I-shaped machine body, and a gear is mounted on an output shaft of each motor; the left side and the right side of the I-shaped machine body are respectively provided with a rotating shaft, and each rotating shaft is rotatably connected with two wing driving gears; the wing and the wing driving gear are arranged in a one-to-one correspondence manner, and the wing is connected with the wing driving gear arranged in a corresponding manner; the gears are arranged in one-to-one correspondence with the wing driving gears and are meshed and connected with the wing driving gears correspondingly arranged; a torsion spring is arranged between each wing driving gear and the I-shaped machine body;
the flapping wing aircraft comprises a flat flight mode and a hovering mode; the first tandem wing and the second tandem wing form a wing system of the flapping wing aircraft;
(1) in a flat flying mode, a wing a1 is arranged at the front left of the flapping wing aircraft, a wing b1 is arranged at the front right, a wing c1 is arranged at the rear right, and a wing d1 is arranged at the rear left; the positive direction of the X axis of a fuselage coordinate system of the flapping wing aircraft points to the direction of the nose of the aircraft, the positive direction of the Z axis is opposite to the direction of gravity acceleration g, the Y axis is orthogonal to the X, Z axis, and the pointing direction of the Y axis is from the fuselageThe left side points to the right side; the amplitudes of wings a1 and d1 are average A of the amplitudes of wings a1, b1, c1 and d10Adding a flapping angle amplitude increment delta A; the amplitudes of wings b1 and c1 are average amplitude values A of wings a1, b1, c1 and d10Decreasing the amplitude increment delta A of the flapping angle; in the flat flying mode, the control method of the flapping wing air vehicle comprises the following steps:
(11) rolling movement
The flapping angle curves of the wings a1, b1, c1 and d1 are shifted to the left, the shift coefficient is 0-0.5, the lower flapping speed of the wings a1 and d1 is greater than the upper flapping speed, and the lower flapping speed of the wings b1 and c1 is less than the upper flapping speed under the driving action of the corresponding motors, gears and wing driving gears; at the moment, the wing system generates a moment tilting rightwards around the X axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft tilts rightwards around the X axis of the fuselage coordinate system;
the flapping angle curves of the wings a1, b1, c1 and d1 are shifted to the right, the shift coefficient is 0.5-1, the lower flapping speed of the wings a1 and d1 is less than the upper flapping speed, and the lower flapping speed of the wings b1 and c1 is greater than the upper flapping speed under the driving action of the corresponding motor, gear and wing driving gear; at the moment, the wing system generates a tilting moment tilting leftwards around the X axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft tilts leftwards around the X axis of the fuselage coordinate system;
(12) pitching movement
Under the driving action of the corresponding motor, the corresponding gear and the corresponding wing driving gear, the flapping angle bisector of the wings a1, b1, c1 and d1 in the flapping process deviates to the positive direction of the Z axis of the fuselage coordinate system, at the moment, the wing system generates tilting moment which enables the nose to tilt downwards around the Y axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft tilts forwards around the Y axis of the fuselage coordinate system;
under the driving action of the corresponding motor, the corresponding gear and the corresponding wing driving gear, the flapping angle bisector of the wings a1, b1, c1 and d1 in the flapping process is deviated towards the negative direction of the Z axis of the fuselage coordinate system, at the moment, the wing system generates tilting moment which enables the nose to tilt upwards around the Y axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft tilts backwards around the Y axis of the fuselage coordinate system;
(13) yawing motion
Under the driving action of the corresponding motor, gear and wing driving gear, when the flapping angle amplitude increment delta A in the flapping process of the wings a1, b1, c1 and d1 is a positive value, namely the flapping amplitude of the wings a1 and d1 is larger than the flapping amplitude of the wings b1 and c1, at the moment, the propulsive force generated by the left wing of the flapping wing aircraft is larger than the propulsive force generated by the right wing, the wing system generates a deflection moment which deflects rightwards around the Z axis of a fuselage coordinate system, and under the action of the moment, the flapping wing aircraft deflects rightwards around the Z axis of the fuselage coordinate system;
under the driving action of the corresponding motor, gear and wing driving gear, when the flapping angle amplitude increment delta A in the flapping process of the wings a1, b1, c1 and d1 is a negative value, namely the flapping amplitude of the wings a1 and d1 is smaller than the flapping amplitude of the wings b1 and c1, at the moment, the propulsive force generated by the left wing of the flapping wing aircraft is smaller than the propulsive force generated by the right wing, the wing system generates a deflection moment deflected to the left around the Z axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft deflects to the left around the Z axis of the fuselage coordinate system;
(2) in the hovering mode, compared with a horizontal flying mode, the fuselage of the flapping wing aircraft rotates backward by 90 degrees around the Y axis of the fuselage coordinate system, so that the X axis of the fuselage coordinate system is parallel to the gravitational acceleration g and the direction of the gravitational acceleration g is opposite, the Y axis keeps the original mode pointing to the right side from the left side of the fuselage, and the Z axis is orthogonal to the X, Y axis; the flapping wings are arranged as follows: wing a2 at the upper left, wing b2 at the upper right, wing c2 at the lower right, and wing d2 at the lower left; the amplitudes of wings a2 and d2 are average A of the amplitudes of wings a2, b2, c2 and d20Adding a flapping angle amplitude increment delta A; the amplitudes of wings b2 and c2 are average amplitude values A of wings a2, b2, c2 and d20Decreasing the amplitude increment delta A of the flapping angle; in the hovering mode, the control method of the flapping wing air vehicle comprises the following steps:
(21) rolling movement
Under the driving action of the corresponding motor, the corresponding gear and the corresponding wing driving gear, when the flapping angle amplitude increment delta A in the flapping process of the wings a2, b2, c2 and d2 is a positive value, namely the flapping amplitude increment delta A of the wings a2 and d2 is larger than the flapping amplitude increment delta A of the wings b2 and c2, at the moment, the propulsive force generated by the left wing of the flapping wing aircraft is larger than the propulsive force generated by the right wing, the wing system generates tilting moment tilting rightwards around the Z axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft tilts rightwards around the Z axis of the fuselage coordinate system;
under the driving action of the corresponding motor, gear and wing driving gear, when the flapping angle amplitude increment delta A in the flapping process of the wings a2, b2, c2 and d2 is a negative value, namely the flapping amplitude of the wings a2 and d2 is smaller than the flapping amplitude of the wings b2 and c2, at the moment, the propulsive force generated by the left wing of the flapping wing aircraft is smaller than the propulsive force generated by the right wing, the wing system generates tilting moment tilting leftwards around the Z axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft tilts leftwards around the Z axis of the fuselage coordinate system;
(22) pitching movement
Under the driving action of the corresponding motor, the corresponding gear and the corresponding wing driving gear, the flapping angle bisector of the wings a2, b2, c2 and d2 deviates to the positive direction of the Z axis of the fuselage coordinate system in the flapping process, at the moment, the wing system generates tilting moment which enables the fuselage to tilt forwards around the Y axis of the fuselage coordinate system, and the aircraft tilts forwards around the Y axis of the fuselage coordinate system under the action of the moment;
under the driving action of the corresponding motor, gear and wing driving gear, the flapping angle bisector of the wings a2, b2, c2 and d2 deviates towards the negative direction of the Z axis of the fuselage coordinate system in the flapping process, at the moment, the wing system generates tilting moment which enables the fuselage to tilt backwards around the Y axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft tilts backwards around the Y axis of the fuselage coordinate system;
(23) yawing motion
Under the driving action of the corresponding motor, the corresponding gear and the corresponding wing driving gear, flapping angle curves of the wings a2, b2, c2 and d2 are shifted to the left, the shift coefficient is between 0 and 0.5, namely the flapping speed of the wings a2 and d2 to the positive direction of the Z axis of a coordinate system of the machine body is less than the flapping speed to the negative direction of the Z axis, and the flapping speed of the wings b2 and c2 to the positive direction of the Z axis is greater than the flapping speed to the negative direction of the Z axis; at the moment, the wing system generates a deflection moment which deflects towards the left around the X axis of the fuselage coordinate system, and under the action of the moment, the flapping wing aircraft deflects towards the left around the X axis of the fuselage coordinate system;
under the driving action of the corresponding motor, the corresponding gear and the corresponding wing driving gear, flapping angle curves of the wings a2, b2, c2 and d2 shift towards the right, the shift coefficient is between 0.5 and 1, namely the flapping speed of the wings a2 and d2 towards the positive direction of the Z axis of a coordinate system of the fuselage is greater than the flapping speed towards the negative direction of the Z axis, and the flapping speed of the wings b2 and c2 towards the positive direction of the Z axis is less than the flapping speed towards the negative direction of the Z axis; at this time, the wing system will generate a yawing moment which is deflected to the right around the X-axis of the fuselage coordinate system, and under the action of the yawing moment, the flapping wing aircraft will be deflected to the right around the X-axis of the fuselage coordinate system.
2. An ornithopter of tandem double pair wing configuration as claimed in claim 1, wherein: the I-shaped machine body comprises two fixing plates which are arranged in parallel and a connecting plate which is vertically connected between the two fixing plates; two ends of the fixing plate are respectively provided with a shaft hole; four motor bases are arranged on the connecting plate; and the motor base is respectively provided with a motor mounting hole and a first torsional spring fixing hole.
3. An ornithopter of tandem double pair wing configuration as claimed in claim 1, wherein: the wing comprises a wing main body and a first fixing screw hole formed in the inner side of the wing main body.
4. An ornithopter of tandem double pair wing configuration as claimed in claim 1, wherein: the torsion spring comprises a torsion spring main body and two column feet which are respectively arranged at the two initial ends of the torsion spring main body.
5. An ornithopter of tandem double pair wing configuration as claimed in claim 1, wherein: the wing driving gear comprises a gear body and a fixed seat arranged at the outer end of the gear body; and the fixed seat is respectively provided with a shaft hole, a wing mounting groove, a second fixing screw hole and a second torsion spring fixing hole.
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| CN112644707B (en) * | 2021-02-04 | 2023-07-14 | 上海斑鱼狗科技有限公司 | Flapping wing aircraft with spring |
| CN113955101A (en) * | 2021-12-02 | 2022-01-21 | 西北工业大学深圳研究院 | Multi-wing bionic aircraft capable of hovering |
| CN113928555A (en) * | 2021-12-02 | 2022-01-14 | 西北工业大学深圳研究院 | Miniature direct-drive transmission system for flapping wing aircraft |
| CN114313255B (en) * | 2022-01-25 | 2024-03-01 | 北京航空航天大学 | Direct-drive miniature flapping rotor wing aircraft and control method thereof |
| CN114310842B (en) * | 2022-01-25 | 2023-12-22 | 北京航空航天大学 | Bionic direct-drive mechanism based on resonance system |
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