CN112009682A - A bionic flapping-wing micro-aircraft based on the differential motion of the wings and the change of the center of gravity of the steering gear to achieve high control torque - Google Patents
A bionic flapping-wing micro-aircraft based on the differential motion of the wings and the change of the center of gravity of the steering gear to achieve high control torque Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及微型飞行器领域,具体来说是一种基于双翼差动及舵机重心变化实现高控制力矩产生的仿生扑翼微型飞行器。The invention relates to the field of micro-aircraft, in particular to a bionic flapping-wing micro-aircraft which realizes the generation of high control torque based on the differential motion of two wings and the change of the center of gravity of the steering gear.
背景技术Background technique
随着MEMS加工、信息遥感、计算机科学等技术的迅猛发展,微型飞行器开始从概念变为现实。微型飞行器在侦察监视、低空巡逻、反恐爆破等军用领域以及拟态观测和消防救灾等民用领域均有着广阔的应用前景。当前按照飞行的原理,微型飞行器大致分为三类:固定翼微型飞行器、旋翼微型飞行器和仿生扑翼微型飞行器。With the rapid development of MEMS processing, information remote sensing, computer science and other technologies, MAVs have begun to change from concept to reality. MAVs have broad application prospects in military fields such as reconnaissance and surveillance, low-altitude patrols, and anti-terrorism blasting, as well as civilian fields such as mimic observation and fire and disaster relief. At present, according to the principle of flight, MAVs are roughly divided into three categories: fixed-wing MAVs, rotary-wing MAVs and bionic flapping-wing MAVs.
微型飞行器尺寸小、飞行速度低,其飞行时翼处于低雷诺数的流动。此时,固定翼微型飞行器和旋翼微型飞行器受飞行原理的限制普遍气动效率较低、机动性较差,尺度越小性能越差,因而两种布局微型飞行器在微型化方面也都受到了极大的限制。近年来,通过对昆虫飞行的深入研究,人们提出了仿生扑翼微型飞行器的概念。仿生扑翼微型飞行器借助类似昆虫翅的翼拍动,在低雷诺数下拥有较高的升力产生能力和高气动效率,这使得这一布局较固定翼和旋翼微型飞行器具有隐蔽性好、利于微小型化等优点,仿生扑翼微型飞行器也成为目前微型飞行器的设计热点。MAVs are small in size and low in flight speed, and their wings are in a flow with a low Reynolds number during flight. At this time, the fixed-wing MAV and the rotary-wing MAV are generally limited by the flight principle, with low aerodynamic efficiency and poor maneuverability. limits. In recent years, through the in-depth study of insect flight, the concept of bionic flapping-wing MAV has been proposed. With the help of wing flaps similar to insect wings, the bionic flapping-wing MAV has high lift generation capability and high aerodynamic efficiency at low Reynolds number, which makes this layout more concealed than fixed-wing and rotary-wing MAVs, which is beneficial to micro-vehicles. Due to the advantages of miniaturization and other advantages, the bionic flapping-wing MAV has also become a design hotspot of the current MAV.
仿生扑翼微型飞行器大多采用无尾式布局,如何寻找等效的控制舵面来实现高控制力矩的产生是其设计的一大难题。目前公开的大多数仿生扑翼微型飞行器,通常利用扑翼充当等效舵面,这类飞行器大多通过翼根处安装的舵机拉动扑翼翼根梁,使各翼上下拍时膜的张紧程度发生变化,以此调节扑翼上下拍的攻角,实现气动力的改变并最终产生控制力矩。如公开号为CN 109606675 A的专利“一种基于单曲柄双摇杆机构的微型仿生扑翼微型飞行器”就采用这样的一种设计方案。采用这一控制方案的仿生扑翼飞行器其扑翼的张紧梁顶端多固定在底座上成为悬臂梁形式,当控制舵机拉动张紧梁时,张紧梁绕顶端固定端弯曲变形产生张紧梁位置的变化。受限于直线舵机的行程和空间布置,翼根梁整体弯曲程度不够大,对翼膜的拉动不够大,翼膜变形不明显,从而扑翼攻角改变不明显,产生的控制力矩有限。Most bionic flapping-wing MAVs adopt a tailless layout, and how to find an equivalent control surface to generate high control torque is a major problem in their design. Most of the currently disclosed bionic flapping-wing MAVs usually use flapping wings as equivalent rudder surfaces. Most of these types of aircraft use the steering gear installed at the root of the wing to pull the wing root beam of the flapping wing, so that the tension of the membrane when each wing is shot up and down is increased. Change, so as to adjust the angle of attack of the flapping wing up and down, realize the change of the aerodynamic force and finally generate the control torque. For example, the patent with the publication number of CN 109606675 A "A Micro Bionic Flapping-wing Micro Air Vehicle Based on a Single Crank and Double Rocker Mechanism" adopts such a design scheme. In the bionic flapping-wing aircraft using this control scheme, the top of the tension beam of the flapping wing is mostly fixed on the base to form a cantilever beam. When the control steering gear pulls the tension beam, the tension beam bends and deforms around the fixed end of the top to generate tension Changes in beam position. Limited by the stroke and spatial arrangement of the linear steering gear, the overall bending degree of the wing root beam is not large enough, the pulling of the wing membrane is not large enough, and the deformation of the wing membrane is not obvious, so the change of the flapping angle of attack is not obvious, and the control torque generated is limited.
上述方法虽然在一定程度上能改变扑翼翼膜的变形,调节扑翼的攻角,产生控制力矩,但在具体实施上受限于空间和结构设计,张紧梁随舵机位移有限,产生的控制力矩有限。此外,当微型扑翼飞行器需要较大控制力矩时,由于其完全依靠扑翼充当控制舵面,扑翼的攻角改变较大,此时扑翼难以工作在气动效率较高的攻角范围内,也影响了扑翼高升力的产生。因此,除借助扑翼本身控制实现控制力矩产生外,也有必要发明一些其它的控制力矩产生方法。Although the above method can change the deformation of the flapping wing membrane to a certain extent, adjust the angle of attack of the flapping wing, and generate a control moment, the specific implementation is limited by space and structural design, and the displacement of the tension beam with the steering gear is limited, resulting in Control torque is limited. In addition, when the micro flapping-wing aircraft needs a large control torque, since it completely relies on the flapping wing as the control surface, the angle of attack of the flapping wing changes greatly, and it is difficult for the flapping wing to work within the range of the angle of attack with high aerodynamic efficiency. , and also affects the generation of high lift of the flapping wing. Therefore, in addition to realizing the control torque generation by means of the flapper itself, it is also necessary to invent some other control torque generation methods.
发明内容SUMMARY OF THE INVENTION
本发明针对现有仿生扑翼微型飞行器仅通过控制扑翼膜变形来获得控制力矩的现状,为解决该方案攻角改变范围有限、产生的控制力矩较小、控制力矩产生形式单一的问题,提出了一种基于双翼差动及舵机重心变化实现高控制力矩产生的仿生扑翼微型飞行器,以满足飞行器高机动飞行时高控制力矩产生的需求。Aiming at the current situation that the existing bionic flapping-wing micro-aircraft only obtains the control torque by controlling the deformation of the flapping-wing membrane, and in order to solve the problems of the limited change range of the angle of attack, the generated control torque is small, and the control torque generated in a single form, the present invention proposes A bionic flapping-wing micro-aircraft based on bi-wing differential and the change of the center of gravity of the steering gear realizes the generation of high control torque, so as to meet the requirements of high control torque generation during high maneuvering flight of the aircraft.
一种基于双翼差动及舵机重心变化实现高控制力矩产生的仿生扑翼微型飞行器,包括升力系统、传动系统、控制系统和动力系统。A bionic flapping-wing micro-aircraft based on bi-wing differential and the change of the center of gravity of the steering gear realizes the generation of high control torque, including a lift system, a transmission system, a control system and a power system.
所述升力系统由左右两个扑翼组成,每个扑翼由主梁、柔性梁、张紧梁和翼膜组成。所述翼膜为柔性膜,采用聚亚酰胺材料,翼膜的前缘和侧缘分别裹成管状后用粘结剂固定。所述主梁和张紧梁分别穿过翼膜前缘和侧缘所形成的管状空间,并可绕管状空间自由转动。两根柔性梁同侧呈散色状粘接在翼膜一侧,分别与主梁呈20°、50°夹角;主梁翼根端与传动系统的翼杆连接,张紧梁的前缘端与控制系统的球铰装置连接,后缘端插入控制系统的俯仰舵机架的张紧梁约束孔位中。The lift system is composed of left and right flapping wings, and each flapping wing is composed of a main beam, a flexible beam, a tension beam and a wing membrane. The wing film is a flexible film, made of polyimide material, and the front edge and the side edge of the wing film are respectively wrapped into tubes and then fixed with an adhesive. The main beam and the tension beam respectively pass through the tubular space formed by the leading edge and the side edge of the wing membrane, and can freely rotate around the tubular space. The two flexible beams are bonded to one side of the wing membrane in a dispersive shape on the same side, respectively forming an included angle of 20° and 50° with the main beam; the wing root end of the main beam is connected with the wing rod of the transmission system, and the leading edge end of the tension beam is connected to the main beam. The ball joint device of the control system is connected, and the trailing edge end is inserted into the restraint hole of the tension beam of the pitch rudder frame of the control system.
所述传动系统包含传动底座、支撑底座、分布齿轮减速组、连杆、传动放大装置。所述传动底座包含分布齿轮减速组的安装孔位和动力装置的安装腔体,分别用于固定分布齿轮减速组和动力装置。所述支撑底座包含有传动放大装置安装孔位、约束滑槽、控制执行机构安装孔位和球铰安装槽,用于固定传动系统的固定传动放大装置以及控制系统的控制执行机构和球铰。所述分布齿轮减速组包括主轴齿轮、单层齿轮和双层齿轮。主轴齿轮安装于动力装置的输出轴上,单层齿轮和双层齿轮分别安装于传动底座的预定孔位中,双层齿轮中大齿数齿轮与主轴齿轮啮合,小齿数齿轮与单层齿轮啮合。连杆的一端连接在单层齿轮的偏心孔位上,另一端通过铆钉与传动放大装置的左摇臂、右摇臂一端同轴连接,并在支撑底座约束滑槽内顺畅滑动。传动放大装置包括左摇臂、左连接杆、左翼杆、右摇臂、右连接杆及右翼杆,所述左、右摇臂通过铆钉实现中间安装孔与支撑底座对应安装孔位的连接,并可绕中间安装孔位转动。左摇臂的左端与左连接杆的右端通过铆钉连接,左连接杆的左端与左翼杆中间的孔位通过铆钉连接,左翼杆的右端与支撑底座对应安装孔位铆接,左翼杆在左连接杆的带动下绕该安装孔往复拍动。右摇臂的右端与右连接杆的左端通过铆钉连接,右连接杆的右端与右翼杆中间的孔位通过铆钉连接,右翼杆的左端与支撑底座对应安装孔位铆接,右翼杆绕该安装孔往复拍动。The transmission system includes a transmission base, a support base, a distributed gear reduction group, a connecting rod, and a transmission amplifying device. The transmission base includes an installation hole of the distribution gear reduction group and an installation cavity of the power device, which are respectively used for fixing the distribution gear reduction group and the power device. The support base includes a transmission amplifying device installation hole, a constraint chute, a control actuator installation hole and a ball hinge installation groove, a fixed transmission amplifying device for fixing the transmission system, and the control actuator and the ball hinge of the control system. The distributed gear reduction group includes a main shaft gear, a single-layer gear and a double-layer gear. The main shaft gear is installed on the output shaft of the power unit, the single-layer gear and the double-layer gear are respectively installed in the predetermined holes of the transmission base, the large-tooth gear in the double-layer gear meshes with the main shaft gear, and the small-tooth gear meshes with the single-layer gear. One end of the connecting rod is connected to the eccentric hole of the single-layer gear, and the other end is coaxially connected to one end of the left rocker arm and the right rocker arm of the transmission amplifying device through rivets, and slides smoothly in the constraint chute of the support base. The transmission amplifying device includes a left rocker arm, a left connecting rod, a left wing rod, a right rocker arm, a right connecting rod and a right wing rod. It can be rotated around the middle mounting hole. The left end of the left rocker arm and the right end of the left connecting rod are connected by rivets, the left end of the left connecting rod and the hole in the middle of the left wing rod are connected by rivets, the right end of the left wing rod is riveted with the corresponding mounting hole of the support base, and the left wing rod is in the left connecting rod Under the driving force of the machine, it flaps back and forth around the mounting hole. The right end of the right rocker arm and the left end of the right connecting rod are connected by rivets, the right end of the right connecting rod and the hole in the middle of the right wing rod are connected by rivets, the left end of the right wing rod is riveted with the corresponding mounting hole of the support base, and the right wing rod is wound around the mounting hole Beat back and forth.
所述控制系统包含控制执行机构、球铰装置及飞控单元。控制执行机构包括滚转舵机臂、滚转舵机架、滚转舵机、俯仰舵机臂、俯仰舵机架及俯仰舵机。滚转舵机臂通过螺钉固定在支撑底座的控制机构安装孔位中,滚转舵机固定于滚转舵机架的预留腔体内。滚转舵机架后端与支撑底座形成转动副,滚转舵机及滚转舵机架可绕该转动副轴线自由转动。俯仰舵机臂通过螺钉固定于滚转舵机架的安装孔位中,俯仰舵机固定于俯仰舵机架的预留腔体中。俯仰舵机架后端与滚转舵机架的预留孔位形成转动副,俯仰舵机及俯仰舵机架可绕该转动副轴线自由转动。俯仰舵机架底端预留有扑翼张紧梁约束孔位,用于约束扑翼张紧梁的后缘端。球铰装置包括左、右转动球和左、右球铰固定座。其中左、右扑翼的张紧梁的前缘端插入左、右转动球的预留孔位中。左、右转动球分别置于支撑底座的左、右球铰安装槽中,左、右球铰固定座分别扣于左、右球铰安装槽上,从而形成球铰连接,扑翼的张紧梁可实现绕球铰前后左右自由转动。飞控单元为高集成微型飞控板,其中至少集成了STM32F411CE主控芯片、MPU9050九轴传感器、RFM22B数传芯片及MS5611气压计等,用于中控计算、采集飞行器姿态、姿态处理、控制指令计算和空地远程数据传输等。飞控单元通过柔性泡沫胶固定在支撑底座上。The control system includes a control actuator, a ball joint device and a flight control unit. The control actuator includes a roll servo arm, a roll servo frame, a roll servo, a pitch servo arm, a pitch servo frame and a pitch servo. The roll steering gear arm is fixed in the mounting hole of the control mechanism of the support base by screws, and the roll steering gear is fixed in the reserved cavity of the roll steering frame. The rear end of the rolling steering frame and the supporting base form a rotating pair, and the rolling steering gear and the rolling steering frame can freely rotate around the axis of the rotating pair. The pitch servo arm is fixed in the mounting hole of the roll servo frame by screws, and the pitch servo is fixed in the reserved cavity of the pitch servo frame. The rear end of the pitching rudder frame and the reserved holes of the rolling rudder frame form a rotating pair, and the pitching servo and the pitching rudder frame can freely rotate around the axis of the rotating pair. The bottom end of the pitching rudder frame is reserved with a constraining hole for the flapping wing tensioning beam, which is used to constrain the trailing edge of the flapping wing tensioning beam. The ball hinge device includes left and right rotating balls and left and right ball hinge fixing seats. The leading edge ends of the tension beams of the left and right flapping wings are inserted into the reserved holes of the left and right rotating balls. The left and right rotating balls are respectively placed in the left and right spherical hinge installation grooves of the support base, and the left and right spherical hinge fixing bases are respectively buckled on the left and right spherical hinge installation grooves, thereby forming a spherical hinge connection and flapping wings. The tightening beam can realize free rotation around the ball hinge, front and rear, left and right. The flight control unit is a highly integrated miniature flight control board, which integrates at least STM32F411CE main control chip, MPU9050 nine-axis sensor, RFM22B data transmission chip and MS5611 barometer, etc., which are used for central control calculation, collecting aircraft attitude, attitude processing, and control commands. Computing and air-to-ground remote data transmission, etc. The flight control unit is fixed on the support base by flexible foam glue.
所述动力系统为仿生扑翼飞行器的动力源,驱动系统机构实现扑翼的拍动运动。动力系统包括动力装置和电池,其中动力装置为空心杯电机,电池为高性能锂电池。The power system is the power source of the bionic flapping-wing aircraft, and the drive system mechanism realizes the flapping motion of the flapping wings. The power system includes a power unit and a battery, wherein the power unit is a hollow cup motor, and the battery is a high-performance lithium battery.
一种基于双翼差动及舵机重心变化实现高控制力矩产生的仿生扑翼微型飞行器其俯仰控制力矩的产生过程如下:The generation process of the pitch control torque of a bionic flapping-wing MAV based on the differential motion of the wings and the change of the center of gravity of the steering gear to achieve high control torque is as follows:
飞行器需要产生抬头俯仰控制力矩时,通过飞控单元发出指令,俯仰舵机带动俯仰舵机架转动,一方面,使得俯仰舵机架带动左、右扑翼的张紧梁绕球铰同步向后转动,进而飞行器左、右扑翼向前拍动时攻角同时减小,向后拍动时攻角同时增加,实现左、右扑翼向前拍动时阻力减小,向后拍动时阻力增大,由于向前拍动时阻力向后,向后拍动时阻力向前,因此左、右扑翼在一个拍动周期内产生向前的平均阻力,由于阻力在重心位置的下方,从而产生抬头的俯仰控制力矩;另一方面,由于俯仰舵机转动,导致俯仰舵机的重心相对于飞行器重心向后移动,从而产生抬头俯仰控制力矩;When the aircraft needs to generate a head-up pitch control torque, the flight control unit sends an instruction, and the pitch servo drives the pitch rudder frame to rotate. Rotate, and then the angle of attack decreases when the left and right flapping wings of the aircraft flap forward, and increases at the same time when flapping backward, so that the resistance decreases when the left and right flapping wings are flapping forward, and when flapping backwards The resistance increases. Since the resistance is backward when flapping forward, and the resistance is forward when flapping backward, the left and right flapping wings generate forward average resistance in one flapping cycle. Since the resistance is below the center of gravity, Therefore, the pitch control torque of the head-up is generated; on the other hand, due to the rotation of the pitch servo, the center of gravity of the pitch servo moves backward relative to the center of gravity of the aircraft, thereby generating the head-up pitch control torque;
当飞行器需要产生低头俯仰控制力矩时,通过飞控单元发出指令,俯仰舵机带动俯仰舵机架转动,一方面,使得俯仰舵机架带动左、右扑翼的张紧梁绕球铰同步向前转动,进而飞行器左、右扑翼向前拍动时攻角同时增加,向后拍动时攻角同时减小,实现左、右扑翼向前拍动时阻力增加,向后拍动时阻力减小,由于向前拍动时阻力向后,向后拍动时阻力向前,因此左、右扑翼在一个拍动周期内产生向后的平均阻力,由于阻力在重心位置的下方,从而产生低头的俯仰控制力矩;另一方面,由于俯仰舵机转动,导致俯仰舵机的重心相对于飞行器重心向前移动,从而产生低头俯仰控制力矩。When the aircraft needs to generate a pitch control torque, the flight control unit sends an instruction, and the pitch servo drives the pitch rudder frame to rotate. Rotate forward, and then the left and right flapping wings of the aircraft will increase the angle of attack at the same time when flapping forward, and decrease at the same time when flapping backwards. The resistance is reduced. Since the resistance is backward when flapping forward, and the resistance is forward when flapping backward, the left and right flapping wings generate an average backward resistance in a flapping cycle. Since the resistance is below the center of gravity, Thereby, the pitch control torque of the head-down is generated; on the other hand, due to the rotation of the pitch servo, the center of gravity of the pitch servo moves forward relative to the center of gravity of the aircraft, thereby generating the head-down pitch control torque.
一种基于双翼差动及舵机重心变化实现高控制力矩产生的仿生扑翼微型飞行器其滚转控制力矩的产生过程如下:The generation process of the roll control torque of a bionic flapping-wing MAV based on the differential motion of the wings and the change of the center of gravity of the steering gear to achieve high control torque is as follows:
飞行器需要产生左滚转控制力矩时,通过飞控单元发出指令,滚转舵机带动滚转舵机架向左转动,一方面,使得滚转舵机架带动俯仰舵机和俯仰舵机架向左转动,进而带动左、右扑翼的张紧梁绕球铰同步向左转动,使得飞行器右扑翼翼膜变紧,左扑翼翼膜变松,从而右扑翼向前拍动和向后拍动的攻角同时增加,左扑翼向前拍动和向后拍动的攻角同时减小,因此右扑翼向前拍动和向后拍动的升力同时增加,左扑翼向前拍动和向后拍动的升力同时减小,从而实现右扑翼一个拍动周期内升力增加,左扑翼一个拍动周期内升力减小,由于左、右扑翼升力作用点与重心不重合,从而产生左滚转控制力矩;另一方面,由于滚转舵机向左转动,导致滚转舵机和俯仰舵机的重心相对于飞行器重心向左移动,同步产生左滚转力矩,增强了扑翼产生的左滚转力矩。When the aircraft needs to generate a left roll control torque, the flight control unit sends an instruction, and the roll servo drives the roll servo frame to rotate to the left. On the one hand, the roll servo frame drives the pitch servo and pitch servo frame. Rotate to the left, and then drive the tension beams of the left and right flapping wings to rotate to the left synchronously around the spherical hinge, so that the right flapping wing membrane of the aircraft is tightened, and the left flapping wing membrane is loosened, so that the right flapping wing flaps forward and The angle of attack of the backward flap increases at the same time, and the angle of attack of the left flapping wing decreases at the same time, so the lift of the right flapping wing forward and backward simultaneously increases, and the left flapping wing increases simultaneously. The lift forces of forward flapping and backward flapping are reduced at the same time, so that the lift force of the right flapping wing increases in one flapping cycle, and the lift force decreases in one flapping cycle of the left flapping wing. The center of gravity does not overlap, resulting in a left roll control torque; on the other hand, because the roll servo turns to the left, the center of gravity of the roll servo and pitch servo moves to the left relative to the center of gravity of the aircraft, and a left roll is generated synchronously moment, which enhances the left roll moment produced by the flapping wing.
飞行器需要产生右滚转控制力矩时,通过飞控单发出指令,滚转舵机带动滚转舵机架向右转动,一方面,使得滚转舵机架带动俯仰舵机和俯仰舵机架向右转动,进而带动左、右扑翼的张紧梁绕球铰同步向右转动,使得飞行器右扑翼翼膜变松,左扑翼翼膜变紧,从而右扑翼向前拍动和向后拍动的攻角同时减小,左扑翼向前拍动和向后拍动的攻角同时增加,因此右扑翼向前拍动和向后拍动的升力同时减小,左扑翼向前拍动和向后拍动的升力同时增加,从而实现右扑翼一个拍动周期内升力减小,左扑翼一个拍动周期内升力增加,由于左、右扑翼升力作用点与重心不重合,从而产生右滚转控制力矩;另一方面,由于滚转舵机向右转动,导致滚转舵机和俯仰舵机的重心相对于飞行器重心向右移动,同步产生右滚转力矩,增强了扑翼产生的右滚转力矩。When the aircraft needs to generate a right roll control torque, the flight control sheet sends an instruction, and the roll servo drives the roll servo frame to rotate to the right. On the one hand, the roll servo frame drives the pitch servo and pitch servo frame. Rotate to the right, and then drive the tension beams of the left and right flapping wings to rotate to the right synchronously around the spherical hinge, so that the right flapping wing membrane of the aircraft becomes loose, and the left flapping wing membrane becomes tight, so that the right flapping wing flaps forward and The angle of attack of the backward flap decreases at the same time, and the angle of attack of the left flap forward and backward simultaneously increases, so the lift of the right flap forward and backward simultaneously decreases, and the left flap The lift of the wing flapping forward and backward simultaneously increases, so that the lift force of the right flapping wing decreases in one flapping cycle, and the lift force increases in one flapping cycle of the left flapping wing. The center of gravity does not overlap, resulting in a right roll control torque; on the other hand, because the roll servo rotates to the right, the center of gravity of the roll servo and pitch servo moves to the right relative to the center of gravity of the aircraft, and a right roll is generated synchronously moment, which enhances the right roll moment produced by the flapping wing.
本发明的优点在于:The advantages of the present invention are:
(1)一种基于双翼差动及舵机重心变化实现高控制力矩产生的仿生扑翼微型飞行器,通过两个舵机分别带动扑翼张紧梁旋转的方式实现了对翼膜松紧的控制,从而有效改变扑翼攻角,产生有效控制力矩,是一种仿生控制方法,可有效产生俯仰和滚转控制力矩。(1) A bionic flapping-wing micro-aircraft based on the differential motion of the two wings and the change of the center of gravity of the steering gear to achieve high control torque, and the control of the tightness of the wing membrane is realized by the two steering gears respectively driving the flapping-wing tension beam to rotate, Therefore, the flapping angle of attack can be effectively changed, and effective control torque is generated. It is a bionic control method, which can effectively generate pitch and roll control torque.
(2)一种基于双翼差动及舵机重心变化实现高控制力矩产生的仿生扑翼微型飞行器,通过将扑翼张紧梁与支撑底座连接方式变为球铰连接,可有效增大扑翼松紧梁的位移范围,从而提高扑翼攻角改变范围,提高有效控制力矩。同时,球铰的连接方式使得控制舵机的偏转不用克服松紧梁的弯曲力矩,可减小舵机负载,降低对飞行器硬件的需求。(2) A bionic flapping-wing MAV based on the differential motion of the wings and the change of the center of gravity of the steering gear to achieve high control torque. By changing the connection between the flapping-wing tension beam and the support base into a spherical hinge connection, the flapping-wing can be effectively increased. The displacement range of the elastic beam is increased, thereby increasing the variation range of the flapping wing attack angle and increasing the effective control moment. At the same time, the connection method of the ball joint makes it possible to control the deflection of the steering gear without overcoming the bending moment of the elastic beam, which can reduce the load of the steering gear and reduce the demand for aircraft hardware.
(3)一种基于双翼差动及舵机重心变化实现高控制力矩产生的仿生扑翼微型飞行器,仿照自然界中昆虫和蜂鸟摆动尾部进行配重调节,通过对控制舵机的几何布局设计,使得控制舵机摆动实现配重调节,控制舵机对扑翼张紧梁进行控制时产生的重心偏转力矩与对应扑翼攻角变化产生的控制力矩一致,布局合理,有效提高了仿生扑翼微型飞行器的控制力矩,增加飞行器的机动性。同时其飞行姿态与蜂鸟更加相似,增加飞行器的仿生程度和隐蔽飞行能力。(3) A bionic flapping-wing MAV based on the differential motion of the wings and the change of the center of gravity of the steering gear to achieve high control torque. It imitates the swinging tail of insects and hummingbirds in nature to adjust the weight. Through the geometric layout design of the steering gear, the Control the swing of the steering gear to adjust the weight, and the deflection moment of the center of gravity generated when the steering gear controls the flapping-wing tension beam is consistent with the control moment generated by the corresponding flapping-wing angle of attack. The layout is reasonable and effectively improves the bionic flapping-wing MAV. The control torque increases the maneuverability of the aircraft. At the same time, its flight attitude is more similar to that of hummingbirds, which increases the bionic degree and concealed flight ability of the aircraft.
附图说明Description of drawings
图1是本发明一种基于差动气动力及重心变化主动控制的扑翼飞行器的整体示意图;Fig. 1 is a kind of overall schematic diagram of the flapping aircraft based on differential aerodynamic force and active control of center of gravity change of the present invention;
图2是本发明一种基于差动气动力及重心变化主动控制的扑翼飞行器的扑翼示意图;Fig. 2 is a kind of flapping-wing schematic diagram of the flapping-wing aircraft based on differential aerodynamic force and active control of center of gravity change of the present invention;
图3是本发明一种基于差动气动力及重心变化主动控制的扑翼飞行器的传动系统部分示意图;Fig. 3 is a kind of schematic diagram of the transmission system of a flapping aircraft based on differential aerodynamic force and active control of center of gravity change of the present invention;
图4是本发明一种基于差动气动力及重心变化主动控制的扑翼飞行器的控制系统示意图;4 is a schematic diagram of a control system of a flapping-wing aircraft based on differential aerodynamic force and active control of the center of gravity change of the present invention;
图5是本发明一种基于差动气动力及重心变化主动控制的扑翼飞行器抬头俯仰控制时的示意图;Fig. 5 is a kind of schematic diagram of the present invention during the head-up and pitch control of the flapping aircraft based on the differential aerodynamic force and the active control of the center of gravity change;
图6是本发明一种基于差动气动力及重心变化主动控制的扑翼飞行器右滚转控制时的示意图;6 is a schematic diagram of the present invention during the right roll control of the flapping-wing aircraft based on differential aerodynamic force and active control of the center of gravity change;
图中:In the picture:
1-升力系统 2-传动系统 3-控制系统1-Lift system 2-Transmission system 3-Control system
4-动力系统4- Power system
101-主梁 102-柔性梁 103-张紧梁101-Main beam 102-Flexible beam 103-Tension beam
104-翼膜104-wing membrane
201-传动底座 202-支撑底座 203-主轴齿轮201-Transmission base 202-Support base 203-Main shaft gear
204-单层齿轮 205-双层齿轮 206-连杆204-Single gear 205-Double gear 206-Link
207-左摇臂 208-左连接杆 209-左翼杆207-left rocker arm 208-left connecting rod 209-left wing rod
210-右摇臂 211-右连接杆 212-右翼杆210-right rocker arm 211-right connecting rod 212-right wing rod
301-滚转舵机臂 302-滚转舵机架 303-滚转舵机301-Roll servo arm 302-Roll servo frame 303-Roll servo
304-俯仰舵机臂 305-俯仰舵机架 306-俯仰舵机304-Tilt servo arm 305-Tilt servo frame 306-Tilt servo
307-飞控单元 308-转动球 309-球铰固定座307-Flight control unit 308-Rotating ball 309-Ball joint fixing seat
401-动力装置 402-电池401-Power unit 402-Battery
具体实施方式Detailed ways
下面结合附图对本发明的具体实施方法进行详细说明。The specific implementation method of the present invention will be described in detail below with reference to the accompanying drawings.
所述一种基于双翼差动及舵机重心变化实现高控制力矩产生的仿生扑翼微型飞行器包括升力系统1、传动系统2、控制系统3和动力系统4。The bionic flapping-wing micro-aircraft that realizes high control torque generation based on the differential motion of the two wings and the change of the center of gravity of the steering gear includes a lift system 1 , a
所述升力系统1由左右两个扑翼组成,每个扑翼由主梁101、柔性梁102、张紧梁103和翼膜104组成。所述翼膜104为柔性膜,采用聚亚酰胺材料,翼膜104的前缘和侧缘分别裹成管状后用粘结剂固定。所述主梁101和张紧梁103分别穿过翼膜104前缘和侧缘所形成的管状空间,并可绕管状空间自由转动。两根柔性梁102同侧呈散色状粘接在翼膜一侧,分别与主梁101呈20、50夹角;主梁101翼根端与传动系统2的翼杆连接,张紧梁103的前缘端与控制系统的球铰装置连接,后缘端插入控制系统2的俯仰舵机架305的张紧梁约束孔位中。The lift system 1 is composed of left and right flapping wings, and each flapping wing is composed of a
所述传动系统2包括传动底座201、支撑底座202、分布齿轮减速组、连杆206、传动放大装置。传动底座201用于固定分布齿轮减速组和动力装置401,包含分布齿轮减速组的安装孔位和动力装置401的安装腔体。支撑底座202用于固定传动系统2的传动放大装置以及控制系统3的控制执行机构和球铰,包含有传动放大装置安装孔位、约束滑槽、控制执行机构安装孔位和球铰安装槽,。分布齿轮减速组包括主轴齿轮203、单层齿轮204和双层齿轮205。主轴齿轮203安装于动力装置401的输出轴上,单层齿轮204和双层齿轮205分别安装于传动底座的预定孔位中,双层齿轮205中大齿数齿轮与主轴齿轮203啮合,小齿数齿轮与单层齿轮204啮合。连杆206的一端连接在单层齿轮204的偏心孔位上,另一端通过铆钉与传动放大装置的左摇臂207、右摇臂210一端同轴连接,并在支撑底座202约束滑槽内顺畅滑动。传动放大装置包括左摇臂207、左连接杆208、左翼杆209、右摇臂210、右连接杆211及右翼杆212,其中左摇臂207和右摇臂210通过铆钉实现中间安装孔与支撑底座202对应安装孔位的连接,并可绕中间安装孔位转动。左摇臂207的左端与左连接杆208的右端通过铆钉连接,左连接杆208的左端与左翼杆209中间的孔位通过铆钉连接,左翼杆209的右端与支撑底座202对应安装孔位铆接,左翼杆209在左连接杆208的带动下绕该安装孔往复拍动。右摇臂210的右端与右连接杆211的左端通过铆钉连接,右连接杆211的右端与右翼杆212中间的孔位通过铆钉连接,右翼杆212的左端与支撑底座202对应安装孔位铆接,右翼杆212绕该安装孔往复拍动。传动放大装置一方面将连杆的水平面内直线往复滑动变为翼的往复拍动,另一方面在有限空间内将往复拍动幅度进行放大,提高了气动力的产生。The
所述控制系统3包含控制执行机构、球铰装置及飞控单元307。控制执行机构包括滚转舵机臂301、滚转舵机架302、滚转舵机303、俯仰舵机臂304、俯仰舵机架305及俯仰舵机306。滚转舵机臂301通过螺钉固定在支撑底座202的控制机构安装孔位中,滚转舵机303固定于滚转舵机架302的预留腔体内。滚转舵机架302后端与支撑底座202形成转动副,滚转舵机303及滚转舵机架302可绕该转动副轴线自由转动。俯仰舵机臂304通过螺钉固定于滚转舵机架302的安装孔位中,俯仰舵机306固定于俯仰舵机架305的预留腔体中。俯仰舵机架305后端与滚转舵机架302的预留孔位形成转动副,俯仰舵机306及俯仰舵机架305可绕该转动副轴线自由转动。俯仰舵机架305底端预留有扑翼张紧梁约束孔位,用于约束扑翼张紧梁103的后缘端。球铰装置包括左、右转动球308和左、右球铰固定座309。其中左、右扑翼的张紧梁103的前缘端插入左、右转动球308的预留孔位中。左、右转动球308分别置于支撑底座202的左、右球铰安装槽中,左、右球铰固定座309分别扣于左、右球铰安装槽上,从而形成球铰连接,扑翼的张紧梁103可实现绕球铰前后左右自由转动。飞控单元307为高集成微型飞控板,其中至少集成了STM32F411CE主控芯片、MPU9050九轴传感器、RFM22B数传芯片及MS5611气压计等,用于中控计算、采集飞行器姿态、姿态处理、控制指令计算和空地远程数据传输等。飞控单元307通过柔性泡沫胶固定在支撑底座202上。The
所述动力系统4为仿生扑翼飞行器的动力源,驱动系统机构实现扑翼的拍动运动。动力系统包括动力装置401和电池402,其中动力装置401为空心杯电机,电池402为7.4V高性能锂电池。The
一种基于双翼差动及舵机重心变化实现高控制力矩产生的仿生扑翼微型飞行器其俯仰控制力矩的产生过程如下:飞行器需要产生抬头俯仰控制力矩时,通过飞控单元307发出指令,俯仰舵机306带动俯仰舵机架305转动,一方面,使得俯仰舵机架305带动左、右扑翼的张紧梁103绕球铰同步向后转动,进而飞行器左、右扑翼向前拍动时攻角同时减小,向后拍动时攻角同时增加,实现左、右扑翼向前拍动时阻力减小,向后拍动时阻力增大,由于向前拍动时阻力向后,向后拍动时阻力向前,因此左、右扑翼在一个拍动周期内产生向前的平均阻力,由于阻力在重心位置的下方,从而产生抬头的俯仰控制力矩;另一方面,由于俯仰舵机306转动,导致俯仰舵机306的重心相对于飞行器重心向后移动,从而产生抬头俯仰控制力矩;A bionic flapping-wing micro-aircraft based on the differential action of the wings and the change of the center of gravity of the steering gear realizes the generation of the high control torque. The
当飞行器需要产生低头俯仰控制力矩时,通过飞控单元307发出指令,俯仰舵机306带动俯仰舵机架305转动,一方面,使得俯仰舵机架305带动左、右扑翼的张紧梁103绕球铰同步向前转动,进而飞行器左、右扑翼向前拍动时攻角同时增加,向后拍动时攻角同时减小,实现左、右扑翼向前拍动时阻力增加,向后拍动时阻力减小,由于向前拍动时阻力向后,向后拍动时阻力向前,因此左、右扑翼在一个拍动周期内产生向后的平均阻力,由于阻力在重心位置的下方,从而产生低头的俯仰控制力矩;另一方面,由于俯仰舵机306转动,导致俯仰舵机306的重心相对于飞行器重心向前移动,从而产生低头俯仰控制力矩。When the aircraft needs to generate a pitch control torque, the
一种基于双翼差动及舵机重心变化实现高控制力矩产生的仿生扑翼微型飞行器其滚转控制力矩的产生过程如下:飞行器需要产生左滚转控制力矩时,通过飞控单元307发出指令,滚转舵机303带动滚转舵机架302向左转动,一方面,使得滚转舵机架302带动俯仰舵机306和俯仰舵机架305向左转动,进而带动左、右扑翼的张紧梁103绕球铰同步向左转动,使得飞行器右扑翼翼膜变紧,左扑翼翼膜变松,从而右扑翼向前拍动和向后拍动的攻角同时增加,左扑翼向前拍动和向后拍动的攻角同时减小,因此右扑翼向前拍动和向后拍动的升力同时增加,左扑翼向前拍动和向后拍动的升力同时减小,从而实现右扑翼一个拍动周期内升力增加,左扑翼一个拍动周期内升力减小,由于左、右扑翼升力作用点与重心不重合,从而产生左滚转控制力矩;另一方面,由于滚转舵机向左转动,导致滚转舵机和俯仰舵机的重心相对于飞行器重心向左移动,同步产生左滚转力矩,增强了扑翼产生的左滚转力矩。A bionic flapping-wing micro-aircraft based on the differential motion of the wings and the change of the center of gravity of the steering gear realizes the generation of the high control torque. The
飞行器需要产生右滚转控制力矩时,通过飞控单元307发出指令,滚转舵机303带动滚转舵机架302向右转动,一方面,使得滚转舵机架302带动俯仰舵机306和俯仰舵机架305向右转动,进而带动左、右扑翼的张紧梁103绕球铰同步向右转动,使得飞行器右扑翼翼膜变松,左扑翼翼膜变紧,从而右扑翼向前拍动和向后拍动的攻角同时减小,左扑翼向前拍动和向后拍动的攻角同时增加,因此右扑翼向前拍动和向后拍动的升力同时减小,左扑翼向前拍动和向后拍动的升力同时增加,从而实现右扑翼一个拍动周期内升力减小,左扑翼一个拍动周期内升力增加,由于左、右扑翼升力作用点与重心不重合,从而产生右滚转控制力矩;另一方面,由于滚转舵机向右转动,导致滚转舵机和俯仰舵机的重心相对于飞行器重心向右移动,同步产生右滚转力矩,增强了扑翼产生的右滚转力矩。When the aircraft needs to generate a right roll control torque, the
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