CN112009681A - Bionic flapping wing micro aircraft with adjustable flapping angle average position and flight control method thereof - Google Patents
Bionic flapping wing micro aircraft with adjustable flapping angle average position and flight control method thereof Download PDFInfo
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- CN112009681A CN112009681A CN202010775997.3A CN202010775997A CN112009681A CN 112009681 A CN112009681 A CN 112009681A CN 202010775997 A CN202010775997 A CN 202010775997A CN 112009681 A CN112009681 A CN 112009681A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
- B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
Abstract
The invention discloses a bionic flapping wing micro aircraft with an adjustable flapping angle average position and a flight control method thereof. The device comprises a base, a power device, a transmission mechanism, a control mechanism and flapping wings. A power device and a transmission mechanism supply and control mechanism are fixed on the base, and the vibration of the base is reduced through the stiffening beam; the transmission mechanism comprises a gear reduction group and a connecting rod mechanism, a connecting rod connecting gear and a left rocker arm and a right rocker arm form a slider-crank mechanism, a sliding groove is formed in the middle of the left rocker arm and the right rocker arm, the sliding groove is connected with the base sliding groove and the output arm of the linear stepping steering engine through rivets, and the reciprocating flapping can be realized around the connecting rivets. The control mechanism drives the connecting rivets to realize the adjustment of the average position of the flapping angle through the output arm. The bionic flapping motion is realized through the simple connecting rod group, the complexity of the mechanism is reduced, and the processing is convenient; meanwhile, the generation of the control moment is decoupled from the lift force of the aircraft by adjusting the average position of the flapping angle, so that the maneuvers such as pitching and hovering can be realized.
Description
Technical Field
The invention relates to the field of micro aircrafts, in particular to a bionic flapping wing micro aircraft with an adjustable flapping angle average position and a flight control method thereof.
Background
The rapid development of the micro-electromechanical technology makes the microminiaturization of the traditional aircraft possible. In this context, in the nineties of the last century, the concept of micro-aircraft was proposed, which have a wide range of military and civil uses and which have now become the focus of research in this field.
The micro-aircraft can be roughly divided into a fixed wing micro-aircraft, a rotor wing micro-aircraft and a bionic flapping wing micro-aircraft according to the lift force generation principle. Compared with the traditional aircraft, the miniature aircraft has small size and low flying speed, so the flying Reynolds number of the miniature aircraft during working is also small, the aircraft faces stronger viscous action in the flying process, and under the condition, the pneumatic efficiency of the fixed-wing miniature aircraft and the rotor wing miniature aircraft is generally lower. Insects and hummingbirds are natural 'micro aircraft' in nature, the flight of the insects and hummingbirds has extremely high aerodynamic efficiency and unrivaled maneuvering capability, and scientists provide the bionic flapping wing micro aircraft based on the insect flight principle. The bionic flapping wing micro air vehicle has great advantages in the aspects of miniaturization and bionics, but has great difficulty in the aspects of lift generation and flight control design, and becomes one of the main difficulties in the development of the existing bionic flapping wing micro air vehicle.
The bionic flapping wing micro aircraft has no tail wing, the lift force generation and the flight control are realized by a pair of flapping wings, and how to realize the high lift force and the high aerodynamic moment generation simultaneously is a great problem. The existing flight strategy of the bionic flapping wing micro air vehicle mainly changes the attack angle of the flapping wings for flapping up and down to change the aerodynamic force, so that the attitude of the air vehicle is changed; by adjusting the average position of the beat motion angle, the change of the aerodynamic force and the distance between the action point and the gravity center of the aerodynamic force is realized, the control moment is generated, and the angular posture control is realized. In the past, there was a patent attempting to solve this problem, such as "a position control mechanism imitating flapping of insect wings" (publication number: CN106828922A) which discloses a bionic flapping wing micro-aircraft. The flapping driving mechanism is composed of five connecting rods, and the functions of a crank sliding block mechanism, a sliding rod rocker mechanism and a four-connecting-rod mechanism are realized respectively. The mechanism has multiple components, and a single component bears multiple functions, so that the output flapping motion is easily and obviously influenced by the rod piece change. In addition, the control mechanism changes the average position of the flapping angle of the flapping wings through the synchronous or differential deflection of the left and right rotating rudders, and realizes the three-axis attitude control of the aircraft. However, the motion track of the rotary steering engine is circular arc, so the position change of the root part of the tail end rocker arm is also circular arc. According to the four-bar transmission principle, when the average position of the flapping angle of the flapping wings is changed, the flapping amplitude of the flapping wings is changed, and the generation of high lift of the aircraft is influenced.
Currently, the existing flapping-wing control scheme of the bionic flapping-wing micro air vehicle mostly adopts a mode of adjusting the tightness of a wing membrane to control the angle of attack. The scheme can only roughly realize the increase or decrease of the attack angle, is difficult to realize the change of the attack angle in real time accurately, and is not beneficial to the control of the estimation of the rudder effect and the accurate control design. In addition, the scheme for changing the average flapping angle position needs to adjust and control the flapping mechanism, on one hand, the scheme is more difficult to implement under the miniaturization and integration design requirements, and on the other hand, because the lift force generation is extremely sensitive to the change of the flapping motion, the adjustment of the flapping mechanism can also cause the aerodynamic force change at the same time, and the scheme is difficult to ensure the generation of high lift force while adjusting the average flapping angle position. Therefore, there is a need to invent a bionic flapping wing micro aircraft capable of maintaining high lift generation and adjustable average flapping angle position, and further develop a flight control method thereof.
Disclosure of Invention
The existing bionic flapping wing micro aircraft has a complex flapping motion mechanism for controlling lift force generation, and on the basis, the mechanism is improved to realize the change of the average position of a flapping angle for controlling torque generation and the difficulty of mechanism integration is high, and the lift force loss is easily caused by torque generation control. In order to solve the problems, the invention provides a bionic flapping wing micro aircraft with an adjustable average flapping angle position and a flight control method thereof.
The bionic flapping wing micro aircraft with the adjustable average flapping angle position comprises a base, a power device, a transmission mechanism, a control mechanism and flapping wings.
The base is spatial three-dimensional structure, prints whole shaping through 3D, divide into plane installing zone, power device installing zone and support skeleton from the function. The main body of the plane installation area is of a flat plate structure and comprises a left sliding groove, a right sliding groove, a middle sliding groove, a single-layer gear installation hole, a double-layer gear installation hole and a steering engine installation hole. The power device installation area is a cavity formed by seven inclined columns and a circular platform, and the power device is placed in the cavity. The supporting framework is of a beam-shaped structure with irregular space and is used for enhancing the rigidity of the base and comprises a supporting beam, a reinforcing beam and four extending beams, wherein the supporting beam is used for reducing the bending deformation of a flat plate caused by flapping motion in a plane mounting area, the reinforcing beam is used for enhancing the bending resistance of the supporting framework, the four extending beams respectively extend out from two ends of the supporting beam, and the outer ends of the four extending beams are provided with mounting positions for fixing the control mechanism.
The power device is a power source of the bionic flapping wing aircraft, drives the transmission mechanism to realize the reciprocating flapping of the flapping wings, and comprises a motor and a power supply. The power device motor adopts a brushless motor and is arranged in the corresponding cavity of the base. The power supply is a lithium battery and is arranged in a space between the extending beams at the left end and the right end.
The transmission mechanism comprises a gear reduction group and a link mechanism. The gear reduction group comprises a main shaft gear, a single-layer gear and a double-layer gear. The main shaft gear is arranged on an output shaft of the power device, the single-layer gear and the double-layer gear are respectively arranged in fixing hole positions of the base, a large-tooth-number gear in the double-layer gear is meshed with the main shaft gear, and a small-tooth-number gear is meshed with the single-layer gear. The connecting rod mechanism comprises a connecting rod and a rocker arm, the rocker arm comprises a left rocker arm and a right rocker arm, high and low cylindrical bosses are arranged at two ends of the connecting rod respectively, one end with the high boss in the connecting rod is connected to the single-layer gear, and one end with the low boss is coaxially connected with one end of the left rocker arm and one end of the right rocker arm through rivets and can slide smoothly in the middle sliding groove of the base. The left rocker arm and the right rocker arm are respectively connected with the left sliding groove and the right sliding groove of the base through rivets. And the free ends of the left rocker arm and the right rocker arm are provided with mounting hole sites for connecting with the main beams of the left flapping wing and the right flapping wing. The power device motor rotates at a high speed, and drives the left rocker arm and the right rocker arm to flap around the connecting shafts of the left rocker arm and the right rocker arm and the base chute respectively after being decelerated by the gear deceleration group and transmitted by the connecting rod.
The control mechanism comprises a left linear stepping steering engine and a right linear stepping steering engine, wherein four cylindrical mounting hole positions are respectively fixed with the extending beam of the base and the steering engine mounting hole through screws. The output short arms of the two linear stepping steering engines are respectively riveted with the sliding grooves of the left rocker arm and the right rocker arm and the sliding groove of the base through long rivets, so that the sliding groove rotating points of the left rocker arm and the right rocker arm are driven to linearly move along the sliding grooves of the base, the average position of the flapping angle of the flapping wing is changed, and the front position and the rear position of the aerodynamic force action point are moved to generate the aerodynamic control moment.
The flapping wing is composed of a left wing and a right wing, each flapping wing comprises a main beam, an auxiliary beam, a tensioning beam and a wing membrane, wherein the wing membrane is made of polyimide materials, the main beam, the auxiliary beams and the tensioning beams are made of carbon fiber rods, the root of the main beam is fixedly connected with a rocker arm of a transmission mechanism, the auxiliary beams and the main beam form an included angle of 30 degrees, the tensioning beams are fixedly connected with the main beam at the root of the main beam, the front edge of the wing membrane is bonded with the main beam, and the side edge of the wing membrane is bonded with. The angle of attack of the wings is repeatedly changed during the up-and-down flapping process to generate lift force.
The implementation process of the pitching control of the bionic flapping wing micro aircraft with the adjustable average flapping angle position comprises the following steps:
(1) when the aircraft needs to generate a head-up pitching moment, the output ends of the left and right linear stepping steering engines drive the rotation points of the left and right rocker arm sliding chutes to synchronously move forwards along the left and right sliding chutes of the base, so that the average positions of the flapping angles output by the left and right rocker arms can simultaneously move forwards; because the flapping amplitude is approximately unchanged after the average position of the flapping angle moves forwards, the size of aerodynamic force generated by flapping motion is approximately unchanged, but the action point of the aerodynamic force moves forwards, the distance between the action point of the aerodynamic force and the gravity center is increased, and the head-up moment is generated before the average position of the flapping angle is changed;
(2) when the aircraft needs to generate a low head pitching moment, the output ends of the left and right linear stepping steering engines drive the rotation points of the left and right rocker arm sliding chutes to synchronously move backwards along the left and right sliding chutes of the base, so that the average position of the flapping angles output by the left and right rocker arms can simultaneously move backwards; because the average position of the flapping angle moves backwards, the flapping amplitude is approximately unchanged, the size of the aerodynamic force generated by flapping motion is approximately unchanged, but the action point of the aerodynamic force moves backwards, the distance between the action point of the aerodynamic force and the center of gravity is reduced, and head-lowering moment is generated before the average position of the flapping angle is changed;
the implementation process of the bionic flapping wing micro hovering flight with the adjustable flapping angle average position comprises the following steps:
(1) when the aircraft needs to perform left circling, the output end of the left linear stepping steering engine drives the left rocker arm sliding groove rotating point to move forwards along the left sliding groove of the base, and the output end of the right linear stepping steering engine keeps still. The average flapping angle position output by the left rocker arm moves forwards, and the average flapping angle position output by the right rocker arm remains unchanged. Because the flapping amplitude of the left wing and the flapping amplitude of the right wing are approximately unchanged, the generated aerodynamic force is approximately unchanged, but the acting point of the aerodynamic force of the left wing moves forwards and approaches to the center of the longitudinal symmetrical plane, so that the head raising moment and the left rolling moment are simultaneously generated, and the aircraft can perform left circling motion.
(2) When the aircraft needs to perform right-handed rotation, the output end of the left linear stepping steering engine keeps still, and the output end of the right linear stepping steering engine drives the right rocker arm sliding groove rotating point to move forwards along the right sliding groove of the base. The average position of the flapping angles output by the left rocker arm is kept unchanged, and the average position of the flapping angles output by the right rocker arm moves forwards. Because the flapping amplitude of the left wing and the right wing is approximately unchanged, the generated aerodynamic force is approximately unchanged. But the right wing aerodynamic force action point moves forwards simultaneously and approaches to the center of the longitudinal symmetry plane, so that the head raising moment and the right rolling moment are generated simultaneously, and the aircraft can perform right circling motion.
The invention has the advantages that:
1. a bionic flapping wing aircraft with an adjustable flapping angle average position realizes bionic flapping motion through a simple connecting rod mechanism, reduces the complexity of the mechanism and improves the system reliability of the flapping mechanism.
2. A bionic flapping wing aircraft with adjustable flapping angle average position can accurately change the average position of flapping reciprocating motion of left and right wings through two steering engines. The generation of the control moment is decoupled from the lift force of the aircraft, and the maneuvering actions such as pitching, hovering and the like can be realized.
Drawings
FIG. 1 is a schematic overall view of a bionic flapping wing aircraft with adjustable average flapping angle position;
FIG. 2 is a schematic view of a base of a bionic flapping wing aircraft with an adjustable average flapping angle;
FIG. 3 is a schematic diagram of a power device of a bionic flapping wing aircraft with an adjustable average flapping angle position;
FIG. 4 is a schematic diagram of a transmission mechanism of a bionic flapping wing aircraft with an adjustable average flapping angle position;
FIG. 5 is a schematic diagram of a right control mechanism of a bionic flapping wing aircraft with an adjustable average flapping angle position;
FIG. 6 is a schematic view of flapping wings of a bionic flapping wing aircraft with adjustable average flapping angle;
FIG. 7 is a schematic view of a bionic flapping-wing aircraft with an adjustable average flapping angle position for pitch control according to the present invention;
FIG. 8 is a schematic diagram of a bionic flapping wing aircraft with adjustable average flapping angle position for left hover control according to the present invention;
in the figure:
1-base 2-power device 3-transmission mechanism
4-control mechanism 5-flapping wing
101-left chute 102-right chute 103-middle chute
104-single-layer gear mounting hole 105-double-layer gear mounting hole 106-steering engine mounting hole
107-power plant base mounting hole 108-support beam 109-reinforcing beam
110-overhanging beam
201-Motor 202-Power supply
301-main shaft gear 302-single-layer gear 303-double-layer gear
304-connecting rod 305-left rocker arm 306-right rocker arm
401-linear step steering engine 402-long rivet
501-main beam 502-auxiliary beam 503-tension beam
504-winged membranes
Detailed Description
The following describes in detail a specific embodiment of the present invention with reference to the drawings.
The bionic flapping wing micro aircraft with the adjustable average flapping angle position comprises a base 1, a power device 2, a transmission mechanism 3, a control mechanism 4 and flapping wings 5.
The base 1 is a spatial three-dimensional structure, is integrally formed through 3D printing, and is functionally divided into a plane mounting area, a power device mounting area and a supporting framework. The main body of the plane installation area is of a flat plate structure and comprises a left sliding groove 101, a right sliding groove 102, a middle sliding groove 103, a single-layer gear installation hole 104, a double-layer gear installation hole 105 and a steering engine installation hole 106. The power device installation area is a cavity formed by seven inclined columns and a circular platform, and the power device 2 is placed in the cavity. The supporting framework is of a beam-shaped structure with irregular space and is used for enhancing the rigidity of the base and comprises a supporting beam 108, a reinforcing beam 109 and four extending beams 110, wherein the supporting beam 108 is used for reducing the bending deformation of a flat plate in a plane mounting area caused by flapping motion, the reinforcing beam 109 is used for enhancing the bending resistance of the supporting framework, the four extending beams 110 respectively extend out from two ends of the supporting beam, and the outer ends of the four extending beams are provided with mounting positions for fixing and controlling a steering engine.
The power device 2 is a power source of the bionic flapping wing aircraft, drives a transmission mechanism to realize reciprocating flapping of the flapping wings 5, and comprises a motor 201 and a power source 202. The power device motor 201 adopts a brushless motor and is arranged in a corresponding cavity of the base 1. The power supply 202 is formed by connecting two 3.7V lithium batteries in series and is respectively arranged in the space between the left and right end extension beams 110.
The transmission mechanism 3 comprises a gear reduction group and a link mechanism. The gear reduction group comprises a spindle gear 301, a single-layer gear 302 and a double-layer gear 303. The main shaft gear 301 is arranged on an output shaft of the power device motor 201, the single-layer gear 302 and the double-layer gear 303 are respectively arranged in fixing hole positions of the base 1, a large-tooth-number gear in the double-layer gear 303 is meshed with the main shaft gear 301, and a small-tooth-number gear is meshed with the single-layer gear 302. The connecting rod mechanism is composed of a connecting rod 304, a left rocker arm 305 and a right rocker arm 306, wherein high and low cylindrical bosses are respectively arranged at two ends of the connecting rod 304, one end with the high boss in the connecting rod 304 is connected to the single-layer gear 302, and the other end with the low boss is coaxially connected with one end of the left rocker arm 305 and one end of the right rocker arm 306 through rivets and can smoothly slide in the middle sliding groove 103 of the base 1. Sliding grooves are formed in the middles of the left rocker arm 305 and the right rocker arm 306, and the left rocker arm 305 and the right rocker arm 306 are connected with the left sliding groove 101 and the right sliding groove 102 of the base through rivets respectively. The free ends of the left rocker arm 305 and the right rocker arm 306 are provided with mounting holes for connecting with the main beams 501 of the left and right flapping wings 5. The power device motor 201 rotates at a high speed, and drives the left rocker arm 305 and the right rocker arm 306 to flap around the connecting shafts of the left rocker arm 305 and the right rocker arm 306 and the base sliding groove respectively after being decelerated by the gear deceleration group and transmitted by the connecting rod 304.
The control mechanism 4 comprises a left linear stepping steering engine 401 and a right linear stepping steering engine 401, wherein four cylindrical mounting hole positions are respectively arranged on the two linear stepping steering engines 401 and are respectively fixed with the extending beam of the base and the steering engine mounting holes through screws. An output short arm of the linear stepping steering engine 401 is riveted with a sliding groove of the left rocker arm 305 (or the right rocker arm 306) and a left sliding groove 305 (or the right sliding groove 306) of the base through a long rivet 402, so that a sliding groove rotating point of the left rocker arm 305 (or the right rocker arm 306) is driven to linearly move along the left sliding groove 101 (or the right sliding groove 102) of the base, the average position of a flapping angle of a flapping wing is changed, and the front and back position movement of an aerodynamic force action point is realized, so that an aerodynamic control moment is generated.
The flapping wing 5 comprises a left wing and a right wing, each flapping wing comprises a main beam 501, an auxiliary beam 502, a tensioning beam 503 and a wing membrane 504, wherein the wing membrane 504 is made of polyimide materials, the main beam 501, the auxiliary beam 502 and the tensioning beam 503 are made of carbon fiber rods, the root of the main beam 501 is fixedly connected with a rocker arm of a transmission mechanism, the auxiliary beam 502 and the main beam 501 form an included angle of 30 degrees, the tensioning beam 503 is fixedly connected with the main beam 501 at the root of the main beam 501, the front edge of the wing membrane 504 is bonded with the main beam 501, and the side edge of the wing membrane 504 is bonded with the tensioning beam. The angle of attack of the wings is repeatedly changed during the up-and-down flapping process to generate lift force.
The implementation process of the pitching control of the bionic flapping wing micro aircraft with the adjustable average flapping angle position comprises the following steps:
(1) when the aircraft needs to generate a head-up pitching moment, the output ends of the left and right linear stepping steering engines 401 drive the chute rotating points of the left rocker arm 305 and the right rocker arm 306 to synchronously move forwards along the left chute 101 and the right chute 102 of the base, so that the average flapping angle positions output by the left rocker arm 305 and the right rocker arm 306 can simultaneously move forwards; because the flapping amplitude is approximately unchanged after the average position of the flapping angle moves forwards, the size of aerodynamic force generated by flapping motion is approximately unchanged, but the action point of the aerodynamic force moves forwards, the distance between the action point of the aerodynamic force and the gravity center is increased, and the head-up moment is generated before the average position of the flapping angle is changed;
(2) when the aircraft needs to generate a low head pitching moment, the output ends of the left and right linear stepping steering engines 401 drive the chute rotating points of the left rocker arm 305 and the right rocker arm 306 to synchronously move backwards along the left chute 102 and the right chute 102 of the base left grass-sliding 101, so that the average flapping angle positions output by the left rocker arm 305 and the right rocker arm 306 can simultaneously move backwards; because the average position of the flapping angle moves backwards, the flapping amplitude is approximately unchanged, the size of the aerodynamic force generated by flapping motion is approximately unchanged, but the action point of the aerodynamic force moves backwards, the distance between the action point of the aerodynamic force and the center of gravity is reduced, and head-lowering moment is generated before the average position of the flapping angle is changed;
the implementation process of the bionic flapping wing micro hovering flight with the adjustable flapping angle average position comprises the following steps:
(1) when the aircraft needs to perform left circling, the output end of the left linear stepping steering engine drives the sliding groove rotating point of the left rocker arm 305 to move forwards along the left sliding groove 101 of the base, and the output end of the right linear stepping steering engine keeps still. The average flapping angle position output by the left rocker arm 305 is moved forward, and the average flapping angle position output by the right rocker arm 306 is kept unchanged. Because the flapping amplitude of the left wing and the flapping amplitude of the right wing are approximately unchanged, the generated aerodynamic force is approximately unchanged, but the acting point of the aerodynamic force of the left wing moves forwards and approaches to the center of the longitudinal symmetrical plane, so that the head raising moment and the left rolling moment are simultaneously generated, and the aircraft can perform left circling motion.
(2) When the aircraft needs to perform right-handed rotation, the output end of the left linear stepping steering engine keeps still, and the output end of the right linear stepping steering engine drives the sliding groove rotating point of the right rocker arm 306 to move forwards along the right sliding groove 102 of the base. The average position of the flapping angles output by the left rocker arm 305 is kept unchanged, and the average position of the flapping angles output by the right rocker arm 306 moves forwards. Because the flapping amplitude of the left wing and the right wing is approximately unchanged, the generated aerodynamic force is approximately unchanged. But the right wing aerodynamic force action point moves forwards simultaneously and approaches to the center of the longitudinal symmetry plane, so that the head raising moment and the right rolling moment are generated simultaneously, and the aircraft can perform right circling motion.
Claims (8)
1. The utility model provides a bionical flapping wing micro aircraft of average position adjustable of flapping angle, includes base, power device, drive mechanism, control mechanism and flapping wing, its characterized in that:
the base comprises a plane mounting area, a power device mounting area and a supporting framework; the main body of the plane mounting area is of a flat plate structure and comprises a left sliding chute, a right sliding chute, a middle sliding chute, a single-layer gear mounting hole, a double-layer gear mounting hole and a steering engine mounting hole;
the power device is a power source of the bionic flapping wing aircraft, drives the transmission mechanism to realize the reciprocating flapping of the flapping wings, and comprises a motor and a power supply;
the transmission mechanism comprises a gear reduction group and a connecting rod mechanism; the connecting rod mechanism comprises a connecting rod and a rocker arm, the rocker arm comprises a left rocker arm and a right rocker arm, high and low cylindrical bosses are respectively arranged at two ends of the connecting rod, one end of the connecting rod with the high boss is connected to the gear reduction group, and one end with the low boss is coaxially connected with one end of the left rocker arm and one end of the right rocker arm through rivets and can smoothly slide in a middle sliding groove of the base; the middle parts of the left rocker arm and the right rocker arm are respectively provided with a sliding chute, the sliding chutes are respectively connected with the left sliding chute and the right sliding chute of the base through rivets, and the rivets form sliding chute rotating points of the rocker arms; the other ends of the left rocker arm and the right rocker arm are provided with mounting hole sites for connecting the main beams of the left flapping wing and the right flapping wing; the motor rotates at a high speed, and drives the left rocker arm and the right rocker arm to flap around the rotating point of the chute in a reciprocating manner after being decelerated by the gear deceleration group and transmitted by the connecting rod;
the control mechanism comprises a left linear stepping steering engine and a right linear stepping steering engine, wherein output short arms of the linear stepping steering engines are riveted with the sliding grooves of the left rocker arm and the right rocker arm and the left sliding groove and the right sliding groove of the base through long rivets to drive the rotating points of the sliding grooves of the rocker arms to respectively do linear motion along the left sliding groove and the right sliding groove of the base, so that the average position of the flapping angle of the flapping wing is changed, and the front-back position movement of an aerodynamic force action point is realized to generate an aerodynamic control moment;
the flapping wing consists of a left wing and a right wing, and the wings comprise main beams, auxiliary beams, tensioning beams and wing membranes.
2. A bionic flapping wing micro air vehicle with adjustable flapping angle average position according to claim 1, wherein the root of a main beam of the flapping wing is fixedly connected with the left rocker arm and the right rocker arm of the transmission mechanism respectively, the auxiliary beam and the main beam form an included angle of 30 degrees, the tensioning beam is fixedly connected with the main beam at the root of the main beam, the front edge of the wing membrane is bonded with the main beam, and the side edge of the wing membrane is bonded with the tensioning beam; the wings repeatedly change the angle of attack during the up and down flapping process to generate lift.
3. A bionic flapping wing micro air vehicle with adjustable flapping angle average position according to claim 1, wherein the base is integrally formed by 3D printing, the power device installation area of the base is a cavity formed by seven inclined columns and a circular platform, and the power device is placed in the cavity; the supporting framework is of a beam-shaped structure with irregular space and is used for enhancing the rigidity of the base and comprises a supporting beam, a reinforcing beam and four extending beams, wherein the supporting beam is used for reducing the bending deformation of a flat plate caused by flapping motion in a plane mounting area, the reinforcing beam is used for reinforcing the bending resistance of the supporting framework, the four extending beams respectively extend out from two ends of the supporting beam, and the outer ends of the four extending beams are provided with mounting positions for fixing the control mechanism; four cylindrical mounting hole positions are respectively arranged on the two linear stepping steering engines and are respectively fixed with the extending beam of the base and the steering engine mounting holes through screws.
4. A bionic flapping wing micro air vehicle with adjustable flapping angle average position according to claim 1, wherein the motor is a brushless motor and is installed in a corresponding cavity of the base; the power supply is a high-performance lithium battery and is arranged in a space between the extending beams at the left end and the right end.
5. A bionic flapping wing micro air vehicle with adjustable flapping angle average position according to claim 1, wherein the gear reduction group comprises a main shaft gear, a single-layer gear and a double-layer gear; the main shaft gear is arranged on the power device output shaft, the single-layer gear and the double-layer gear are respectively arranged in the single-layer gear mounting hole and the double-layer gear mounting hole of the base, a large-tooth-number gear in the double-layer gear is meshed with the main shaft gear, and a small-tooth-number gear is meshed with the single-layer gear.
6. A bionic flapping wing micro air vehicle with adjustable flapping angle average position according to claim 1, wherein the main beams, the auxiliary beams and the tensioning beams are made of carbon fiber rods, and the wing membranes are made of polyimide film materials.
7. The pitch control method of the bionic flapping wing micro air vehicle with the adjustable flapping angle average position, according to any one of claims 1 to 6, comprises the following steps:
(1) when the aircraft needs to generate a head-up pitching moment, the output ends of the left and right linear stepping steering engines drive the rotation points of the left and right rocker arm sliding chutes to synchronously move forwards along the left and right sliding chutes of the base, so that the average positions of the flapping angles output by the left and right rocker arms can simultaneously move forwards; because the flapping amplitude is approximately unchanged after the average position of the flapping angle moves forwards, the size of aerodynamic force generated by flapping motion is approximately unchanged, but the action point of the aerodynamic force moves forwards, the distance between the action point of the aerodynamic force and the gravity center is increased, and the head-up moment is generated before the average position of the flapping angle is changed;
(2) when the aircraft needs to generate a low head pitching moment, the output ends of the left and right linear stepping steering engines drive the rotation points of the left and right rocker arm sliding chutes to synchronously move backwards along the left and right sliding chutes of the base, so that the average position of the flapping angles output by the left and right rocker arms can simultaneously move backwards; because the average position of the flapping angle moves backwards, the flapping amplitude is approximately unchanged, so the magnitude of the aerodynamic force generated by the flapping motion is approximately unchanged, but the action point of the aerodynamic force moves backwards, the distance between the action point of the aerodynamic force and the gravity center is reduced, and the head-lowering moment is generated before the average position of the flapping angle is changed.
8. The method for controlling the hovering flight of the bionic flapping wing micro air vehicle with the adjustable flapping angle average position according to any one of claims 1 to 6 comprises the following steps:
(1) when the aircraft needs to perform left circling, the output end of the left linear stepping steering engine drives the rotating point of the left rocker arm sliding groove to move forwards along the left sliding groove of the base, the output end of the right linear stepping steering engine keeps still, so that the average position of the flapping angles output by the left rocker arm moves forwards, and the average position of the flapping angles output by the right rocker arm keeps unchanged; because the flapping amplitudes of the left wing and the right wing are approximately unchanged, the generated aerodynamic force is approximately unchanged, but the action point of the aerodynamic force of the left wing moves forwards and approaches to the center of the longitudinal symmetry plane simultaneously, so that the head raising moment and the left rolling moment are generated simultaneously, and the aircraft realizes left circling motion;
(2) when the aircraft needs to perform right circling, the output end of the left linear stepping steering engine keeps still, the output end of the right linear stepping steering engine drives the rotating point of the right rocker arm sliding groove to move forwards along the right sliding groove of the base, so that the average position of the flapping angle output by the left rocker arm keeps unchanged, and the average position of the flapping angle output by the right rocker arm moves forwards; because the flapping amplitudes of the left wing and the right wing are approximately unchanged, the size of the generated aerodynamic force is approximately unchanged; but the right wing aerodynamic force action point moves forwards simultaneously and approaches to the center of the longitudinal symmetry plane, so that the head raising moment and the right rolling moment are generated simultaneously, and the aircraft can perform right circling motion.
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| CN113911344A (en) * | 2021-11-08 | 2022-01-11 | 北京航空航天大学 | Bionic flapping wing micro aircraft for rolling control by using wing flapping amplitude differential motion |
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