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 PDF

Info

Publication number
CN112009682A
CN112009682A CN202010782911.XA CN202010782911A CN112009682A CN 112009682 A CN112009682 A CN 112009682A CN 202010782911 A CN202010782911 A CN 202010782911A CN 112009682 A CN112009682 A CN 112009682A
Authority
CN
China
Prior art keywords
wing
flapping
pitch
control
gear
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202010782911.XA
Other languages
Chinese (zh)
Other versions
CN112009682B (en
Inventor
吴江浩
程诚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beihang University
Original Assignee
Beihang University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beihang University filed Critical Beihang University
Priority to CN202010782911.XA priority Critical patent/CN112009682B/en
Publication of CN112009682A publication Critical patent/CN112009682A/en
Application granted granted Critical
Publication of CN112009682B publication Critical patent/CN112009682B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C33/00Ornithopters
    • B64C33/02Wings; Actuating mechanisms therefor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02Aircraft characterised by the type or position of power plants
    • B64D27/24Aircraft characterised by the type or position of power plants using steam or spring force
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Toys (AREA)

Abstract

The invention discloses a bionic flapping wing micro air vehicle for realizing high control moment generation based on double-wing differential motion and steering engine gravity center change and a control moment generation method thereof. The aircraft comprises a lift system, a transmission system, a control system and a power system. The transmission system realizes the reciprocating flapping of the wings in a small space by distributing gear reduction group gears and crank-connecting rod combinations. The control system drives the flapping wing tensioning beam to move forwards, backwards, leftwards and rightwards respectively through two independent steering engines to achieve effective adjustment of the attack angle of the flapping wing. The flapping wing tensioning beam is connected with the spherical hinge device on the base and is controlled by the rolling steering engine and the pitching, so that the change range of the attack angle of the flapping wing is effectively enlarged, and the control torque generated by the flapping wing is increased. In addition, when the bionic flapping wing micro air vehicle is used for attitude control, the steering effect is further enhanced by controlling the gravity center deflection of the steering engine, and the control moment generated by the flapping wings is effectively improved.

Description

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A simulation method based on the differential motion of the wings and the change of the center of gravity of the steering gear to realize the generation of high control torque. flapping wing micro air vehicle

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 transmission system 2 , a control system 3 and a power system 4 .

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 main beam 101 , a flexible beam 102 , a tension beam 103 and a wing membrane 104 . The wing film 104 is a flexible film made of polyimide material. The front edge and the side edge of the wing film 104 are respectively wrapped into tubes and then fixed with an adhesive. The main beam 101 and the tension beam 103 respectively pass through the tubular space formed by the front edge and the side edge of the wing membrane 104, and can freely rotate around the tubular space. The two flexible beams 102 are bonded to one side of the wing membrane in a dispersive manner on the same side, respectively forming an included angle of 20 and 50 with the main beam 101; the wing root end of the main beam 101 is connected with the wing rod of the transmission system 2, and the tension beam 103 The leading edge end of the control system is connected with the ball joint device of the control system, and the trailing edge end is inserted into the tension beam restraint hole position of the pitch rudder frame 305 of the control system 2 .

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 transmission system 2 includes a transmission base 201, a support base 202, a distributed gear reduction group, a connecting rod 206, and a transmission amplifying device. The transmission base 201 is used to fix the distributed gear reduction group and the power device 401 , and includes the installation holes of the distributed gear reduction group and the installation cavity of the power device 401 . The support base 202 is used to fix the transmission amplifying device of the transmission system 2 and the control actuator and the spherical hinge of the control system 3, and includes the mounting hole of the transmission amplifying device, the constraint chute, the mounting hole of the control actuator and the mounting groove of the spherical hinge, . The distributed gear reduction group includes a main shaft gear 203 , a single-layer gear 204 and a double-layer gear 205 . The main shaft gear 203 is installed on the output shaft of the power unit 401, the single-layer gear 204 and the double-layer gear 205 are respectively installed in the predetermined holes of the transmission base. Meshes with single layer gear 204 . One end of the connecting rod 206 is connected to the eccentric hole of the single-layer gear 204, and the other end is coaxially connected to one end of the left rocker arm 207 and the right rocker arm 210 of the transmission amplifying device through rivets, and is smoothly in the constraining chute of the support base 202. slide. The transmission amplifying device includes a left rocker arm 207, a left connecting rod 208, a left wing rod 209, a right rocker arm 210, a right connecting rod 211 and a right wing rod 212, wherein the left rocker arm 207 and the right rocker arm 210 are realized by rivets. The base 202 corresponds to the connection of the installation holes, and can rotate around the middle installation holes. The left end of the left rocker arm 207 and the right end of the left connecting rod 208 are connected by rivets, the left end of the left connecting rod 208 and the hole in the middle of the left wing bar 209 are connected by rivets, and the right end of the left wing bar 209 is riveted with the corresponding mounting hole of the support base 202, The left wing rod 209 flaps back and forth around the mounting hole under the driving of the left connecting rod 208 . The right end of the right rocker arm 210 and the left end of the right connecting rod 211 are connected by rivets, the right end of the right connecting rod 211 and the hole in the middle of the right wing bar 212 are connected by rivets, and the left end of the right wing bar 212 is riveted with the corresponding mounting hole of the support base 202, The right wing lever 212 flaps back and forth around the mounting hole. On the one hand, the transmission amplifying device transforms the linear reciprocating sliding in the horizontal plane of the connecting rod into the reciprocating flapping of the wing, and on the other hand, amplifies the reciprocating flapping amplitude in a limited space, which improves the generation of aerodynamic force.

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 control system 3 includes a control actuator, a ball joint device and a flight control unit 307 . The control execution mechanism includes a roll steering gear arm 301 , a roll steering gear frame 302 , a roll steering gear 303 , a pitch steering gear arm 304 , a pitch steering gear frame 305 and a pitch steering gear 306 . The roll steering gear arm 301 is fixed in the control mechanism installation hole of the support base 202 by screws, and the roll steering gear 303 is fixed in the reserved cavity of the roll steering gear frame 302 . The rear end of the roll steering frame 302 and the support base 202 form a rotation pair, and the roll steering gear 303 and the roll steering frame 302 can freely rotate around the axis of the rotation pair. The pitch steering gear arm 304 is fixed in the mounting hole of the rolling steering frame 302 by screws, and the pitch steering gear 306 is fixed in the reserved cavity of the pitch steering frame 305 . The rear end of the pitch rudder frame 305 and the reserved hole of the roll rudder frame 302 form a rotation pair, and the pitch servo 306 and the pitch rudder frame 305 can freely rotate around the axis of the rotation pair. The bottom end of the pitch rudder frame 305 is reserved with a flapping wing tension beam restraint hole for restraining the trailing edge end of the flapper tension beam 103 . The ball hinge device includes left and right rotating balls 308 and left and right ball hinge fixing bases 309 . The front edge ends of the tension beams 103 of the left and right flapping wings are inserted into the reserved holes of the left and right rotating balls 308 . The left and right rotating balls 308 are respectively placed in the left and right ball hinge installation grooves of the support base 202, and the left and right ball hinge fixing bases 309 are respectively buckled on the left and right ball hinge installation grooves, thereby forming a ball hinge connection. The tension beam 103 of the wing can be freely rotated around the spherical hinge, back and forth, left and right. The flight control unit 307 is a highly integrated miniature flight control board, which integrates at least the STM32F411CE main control chip, the MPU9050 nine-axis sensor, the RFM22B data transmission chip and the MS5611 barometer, etc., which are used for central control calculation, collection of aircraft attitude, attitude processing, and control. Command calculation and air-to-ground remote data transmission, etc. The flight control unit 307 is fixed on the support base 202 by flexible foam glue.

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 power system 4 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 device 401 and a battery 402, wherein the power device 401 is a hollow cup motor, and the battery 402 is a 7.4V 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: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 machine 306 drives the pitching rudder frame 305 to rotate. On the one hand, the pitching rudder frame 305 drives the tension beams 103 of the left and right flapping wings to rotate backwards synchronously around the spherical hinge, so that when the left and right flapping wings of the aircraft flap forward The angle of attack decreases at the same time, and the angle of attack increases at the same time when flapping backward, so that the resistance of the left and right flapping wings is reduced when flapping forward, and the resistance is increased when flapping backward. Because the resistance is backward when flapping forward, When flapping backwards, the resistance is forward, so the left and right flapping wings generate forward average resistance in one flapping cycle. Since the resistance is below the center of gravity, the pitch control moment of the head is generated; on the other hand, due to the pitching The rotation of the steering gear 306 causes the center of gravity of the pitch steering gear 306 to move backward relative to the center of gravity of the aircraft, thereby generating a 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 flight control unit 307 issues an instruction, and the pitch steering gear 306 drives the pitch rudder frame 305 to rotate. It rotates forward synchronously around the ball hinge, and then the angle of attack increases at the same time when the left and right flapping wings of the aircraft flap forward, and decreases at the same time when flapping backward, so that the resistance increases when the left and right flapping wings flap forward. The resistance decreases when flapping backwards. Since the resistance is backward when flapping forward, and the resistance is forward when flapping backwards, the left and right flapping wings generate average backward resistance in one flapping cycle. On the other hand, due to the rotation of the pitch servo 306, the center of gravity of the pitch servo 306 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: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 roll rudder 303 drives the roll rudder frame 302 to rotate to the left. On the one hand, the roll rudder frame 302 drives the pitch servo 306 and the pitch rudder frame 305 to rotate to the left, thereby driving the left and right flapping wings The tension beam 103 rotates synchronously to the left around the spherical hinge, so that the right flapping wing membrane of the aircraft becomes tighter, and the left flapping wing membrane becomes loose, so that the angle of attack of the right flapping wing flapping forward and backward simultaneously increases, and the left flapping wing flaps at the same time. The angle of attack of the forward flap and backward flap of the flapping wing decreases at the same time, so the lift of the right flapping wing forward and backward flap simultaneously increases, and the lift of the left flapping wing forward and backward flap At the same time, it decreases, 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. Since the lift action points of the left and right flapping wings do not coincide with the center of gravity, the left roll control moment is generated. ; On the other hand, since 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, which simultaneously generates a left roll torque and enhances the left roll generated by the flapping wing. moment.

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 flight control unit 307 issues an instruction, and the roll steering gear 303 drives the roll steering frame 302 to rotate to the right. On the one hand, the roll steering frame 302 drives the pitch steering gear 306 and the pitch rudder frame 305 rotate to the right, and then drive the tension beams 103 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 membrane is tightened. The angle of attack of the forward flap and backward flap of the flapping wing decreases at the same time, and the angle of attack of the left flapping wing forward and backward flap simultaneously increases, so the forward flap and backward flap of the right flapping wing increase. The lift force decreases at the same time, and the lift force of the left flapping wing flaps forward and backward at the same time 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 lift point of the right flapping wing does not coincide with the center of gravity, resulting in a right roll control torque; on the other hand, because the roll servo turns to the right, the center of gravity of the roll servo and pitch servo is to the right relative to the center of gravity of the aircraft Moving, the right roll moment is generated synchronously, and the right roll moment generated by the flapping wing is enhanced.

Claims (9)

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,包括升力系统、传动系统、控制系统和动力系统,其特征在于:1. a bionic flapping-wing micro-vehicle that realizes high control torque generation based on bi-wing differential and steering gear center of gravity changes, comprises lift system, transmission system, control system and power system, it is characterized in that: 所述升力系统包含左右两个扑翼,所述扑翼包含主梁、柔性梁、张紧梁和翼膜;The lift system includes two left and right flapping wings, and the flapping wings include a main beam, a flexible beam, a tension beam and a wing membrane; 所述传动系统包含传动底座、支撑底座、分布齿轮减速组、连杆和传动放大装置;The transmission system includes a transmission base, a support base, a distributed gear reduction group, a connecting rod and a transmission amplifying device; 所述控制系统包含控制执行机构、球铰装置及飞控单元,所述控制执行机构包含滚转舵机臂、滚转舵机架、滚转舵机、俯仰舵机臂、俯仰舵机架及俯仰舵机;The control system includes a control actuator, a ball joint device and a flight control unit, the control actuator includes a roll steering arm, a roll steering frame, a roll steering gear, a pitch steering arm, a pitch steering frame and pitch steering gear; 所述动力系统为仿生扑翼飞行器的动力源,包括动力装置和电池,驱动所述传动系统实现扑翼的拍动运动;The power system is the power source of the bionic flapping-wing aircraft, including a power device and a battery, and drives the transmission system to realize the flapping motion of the flapping wings; 所述控制执行机构的滚转舵机臂通过螺钉固定在所述支撑底座的控制机构安装孔位中,所述滚转舵机固定于所述滚转舵机架的预留腔体内;所述滚转舵机架后端与所述支撑底座形成转动副,所述滚转舵机和所述滚转舵机架可绕该转动副轴线自由转动;所述俯仰舵机臂通过螺钉固定于所述滚转舵机架的预留安装孔位中,所述俯仰舵机固定于所述俯仰舵机架的预留腔体中;所述俯仰舵机架后端与所述滚转舵机架的预留孔位形成转动副,所述俯仰舵机和所述俯仰舵机架可绕该转动副轴线自由转动;所述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;所述球铰装置包括左、右转动球和左、右球铰固定座;所述左、右扑翼的张紧梁的前缘端插入所述左、右转动球的预留孔位中;所述左、右转动球分别置于所述支撑底座的左、右球铰安装槽中,所述左、右球铰固定座分别扣于所述左、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。The roll steering arm of the control actuator is fixed in the control mechanism installation hole of the support base by screws, and the roll steering gear is fixed in the reserved cavity of the roll steering frame; the The rear end of the roll steering frame and the support base form a rotation pair, and the roll steering gear and the roll steering frame can freely rotate around the axis of the rotation pair; the pitch steering gear arm is fixed to the In the reserved installation holes of the rolling rudder frame, the pitching rudder is fixed in the reserved cavity of the pitching rudder frame; the rear end of the pitching rudder frame is connected to the rolling rudder frame The reserved holes of the rudder form a rotation pair, and the pitch steering gear and the pitch rudder frame can freely rotate around the axis of the rotation pair; the bottom end of the pitch rudder frame is reserved with a flapping wing tension beam restraint hole, Used to constrain the trailing edge of the flapping wing tension beam; the ball hinge device includes left and right rotating balls and left and right ball hinge fixing seats; the front edge ends of the left and right flapping wing tension beams are inserted in the reserved hole positions 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 seats are respectively It is buckled on the left and right spherical hinge installation grooves to form a spherical hinge connection, and the tension beam of the flapping wing can freely rotate around the spherical hinge front, back, left and right. 2.如权利要求1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,其特征在于,所述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,并可绕管状空间的轴线自由转动;所述柔性梁有两根,粘结在翼膜同一侧,分别与主梁呈20°、50°夹角;所述主梁翼根端与所述传动系统的翼杆连接,所述张紧梁的前缘端与所述控制系统的球铰装置连接,所述张紧梁的后缘端插入控制系统的俯仰舵机架的张紧梁约束孔位中。2. a kind of bionic flapping-wing micro-vehicle that realizes high control torque generation based on the variation of double-wing differential and steering gear center of gravity as claimed in claim 1, it is characterized in that, the leading edge and side edge of described wing membrane are wrapped into tubular rear respectively. It is fixed with 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 rotate freely around the axis of the tubular space; the flexible beams have two, which are bonded together. On the same side of the wing membrane, there are included angles of 20° and 50° with the main beam respectively; the wing root end of the main beam is connected with the wing bar of the transmission system, and the leading edge end of the tension beam is connected with the ball of the control system. The hinge device is connected, and the trailing edge end of the tension beam is inserted into the tension beam restraint hole of the pitch rudder frame of the control system. 3.如权利要求1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,其特征在于,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,所述主轴齿轮安装于动力装置的输出轴上,所述单层齿轮和双层齿轮分别安装于传动底座的预定孔位中,所述双层齿轮中大齿数齿轮与主轴齿轮啮合,所述双层齿轮中小齿数齿轮与单层齿轮啮合;所述连杆的一端连接在单层齿轮的偏心孔位上,另一端通过铆钉与所述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;所述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;所述左摇臂的左端与左连接杆的右端通过铆钉连接,所述左连接杆的左端与左翼杆中间的孔位通过铆钉连接,所述左翼杆的右端与支撑底座对应安装孔位铆接,所述左翼杆在左连接杆的带动下绕该安装孔往复拍动;所述右摇臂的右端与右连接杆的左端通过铆钉连接,所述右连接杆的右端与右翼杆中间的孔位通过铆钉连接,所述右翼杆的左端与支撑底座对应安装孔位铆接,所述右翼杆在左连接杆的带动下绕该安装孔往复拍动。3. a kind of bionic flapping-wing micro-vehicle that realizes high control torque generation based on bi-wing differential and steering gear center of gravity change as claimed in claim 1, it is characterized in that, described transmission base comprises the mounting hole position and the power of the distribution gear reduction group The installation cavity of the device is used to fix the distributed gear reduction group and the power device respectively; the support base includes the installation hole of the transmission amplifying device, the constraint chute, the installation hole of the control actuator and the ball joint installation slot, which are used for fixing The fixed transmission amplifying device of the transmission system, the control actuator and the ball joint of the control system; the distributed gear reduction group includes a main shaft gear, a single-layer gear and a double-layer gear, and the main shaft gear is installed on the output shaft of the power device, so 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 in the double-layer gear meshes with the single-layer gear; One end of the 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 amplifier 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 installation hole position; 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, and the right end of the left wing rod is connected with The support base is riveted corresponding to the installation hole, and the left wing rod is driven by the left connecting rod to reciprocate around the installation hole; the right end of the right rocker arm and the left end of the right connecting rod are connected by rivets, and the The right end 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 driven by the left connecting rod to reciprocate around the mounting hole. 4.如权利要求1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,其特征在于,所述控制系统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,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。4. a kind of bionic flapping-wing micro-aircraft that realizes high control torque generation based on bi-wing differential and steering gear center of gravity change as claimed in claim 1, it is characterized in that, described control system flight control unit is a highly integrated miniature flight control board, It integrates at least STM32F411CE main control chip, MPU9050 nine-axis sensor, RFM22B data transmission chip and MS5611 barometer, which are used for central control calculation, acquisition of aircraft attitude, attitude processing, control command calculation and air-ground remote data transmission. 5.如权利要求1或4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,其特征在于,所述飞控单元通过柔性泡沫胶固定在支撑底座上。5. a kind of bionic flapping-wing micro-aircraft that realizes high control moment generation based on double-wing differential and steering gear center of gravity change as described in claim 1 or 4, it is characterized in that, described flight control unit is fixed on the support base by flexible foam glue superior. 6.如权利要求1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,其特征在于,所述动力系统动力装置为空心杯电机,电池为高性能锂电池。6. a kind of bionic flapping-wing micro-vehicle that realizes the generation of high control torque based on bi-wing differential and steering gear center of gravity change as claimed in claim 1, it is characterized in that, described power system power unit is hollow cup motor, and battery is high performance. lithium battery. 7.如权利要求1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,其特征在于,所述翼膜为轻质、不透风的柔性膜,其材料包括但不限于聚亚酰胺、无纺布、尼龙。7. a kind of bionic flapping-wing micro-aircraft that realizes high control moment generation based on double-wing differential motion and steering gear center of gravity change as claimed in claim 1, it is characterized in that, described wing membrane is light, airtight flexible membrane, its Materials include, but are not limited to, polyimide, nonwoven, and nylon. 8.一种如权利要求1-7任意一项所述的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的俯仰控制力矩的产生方法为:飞行器需要产生俯仰控制力矩时,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前后转动,进而飞行器左、右扑翼上拍攻角同时增大或减小,下拍攻角同时减小或增大,实现左、右扑翼上拍时阻力增加或减小,下拍时阻力减小或增大,从而产生非零的周期平均阻力,由于阻力与重心不在同一水平面内,从而产生俯仰控制力矩;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前后移动,进一步产生俯仰控制力矩。8. A generation method of the pitch control torque of the bionic flapping-wing micro-aircraft that realizes high control torque generation based on bi-wing differential and steering gear center of gravity changes as described in any one of claims 1-7 is: aircraft needs to produce pitch control When the torque is applied, the flight control unit issues commands, and the pitch servo drives the pitch rudder frame to rotate; on the one hand, the pitch rudder frame drives the tension beams of the left and right flapping wings to rotate back and forth synchronously around the spherical hinge, so that the left and right sides of the aircraft rotate synchronously. The attack angle of the flapping wing increases or decreases at the same time, and the attack angle of the downbeat decreases or increases at the same time, so that the resistance increases or decreases when the left and right flapping wings are up-beating, and the resistance decreases or increases when the down-beating is performed. A non-zero periodic average resistance is generated. Since the resistance and the center of gravity are not in the same horizontal plane, the pitch control moment is generated; on the other hand, due to the rotation of the pitch servo, the center of gravity of the pitch servo moves back and forth relative to the center of gravity of the aircraft, which further generates pitch control. moment. 9.一种如权利要求1-7任意一项所述的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的滚转控制力矩的产生方法为:飞行器需要产生滚转控制力矩时,通过飞控单元发出指令,滚转舵机带动滚转舵机架转动;一方面,使得滚转舵机架带动俯仰舵机和俯仰舵机架转动,进而带动左、右扑翼的张紧梁绕球铰同步左右转动,使得飞行器左扑翼上、下拍攻角同时增加或减小,右扑翼上、下拍攻角同时减小或增加,实现左扑翼上、下拍时升力都增加或减小,右扑翼上、下拍时升力都减小或增加,从而实现左、右扑翼周期平均升力不平衡,由于左、右扑翼升力作用点与重心不重合,从而产生滚转控制力矩;另一方面,由于滚转舵机转动,导致滚转舵机和俯仰舵机的重心相对于飞行器重心左右移动,从而产生滚转力矩。9. A generation method of the roll control torque of the bionic flapping-wing micro-aircraft that realizes the high control torque generation based on bi-wing differential and steering gear center of gravity changes as described in any one of claims 1-7 is: the aircraft needs to produce rolling. When the control torque is turned, the flight control unit sends an instruction, and the roll servo drives the roll servo frame to rotate; on the one hand, the roll servo frame drives the pitch servo and the pitch servo frame to rotate, and then drives the left and right flaps. The tension beam of the wing rotates synchronously left and right around the spherical hinge, so that the attack angles of the left flapping wing up and down of the aircraft increase or decrease at the same time, and the up and down flapping angles of the right flapping wing decrease or increase at the same time. The lift increases or decreases during the downbeat, and the lift decreases or increases when the right flapping wing goes up and down, so that the average lift of the left and right flapping wings is unbalanced. On the other hand, due to the rotation of the roll steering gear, the center of gravity of the roll steering gear and the pitch steering gear moves left and right relative to the center of gravity of the aircraft, thereby generating a rolling torque.
CN202010782911.XA 2020-08-06 2020-08-06 Bionic flapping wing micro aircraft for realizing high control torque generation based on double-wing differential motion and steering engine gravity center change Active CN112009682B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010782911.XA CN112009682B (en) 2020-08-06 2020-08-06 Bionic flapping wing micro aircraft for realizing high control torque generation based on double-wing differential motion and steering engine gravity center change

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010782911.XA CN112009682B (en) 2020-08-06 2020-08-06 Bionic flapping wing micro aircraft for realizing high control torque generation based on double-wing differential motion and steering engine gravity center change

Publications (2)

Publication Number Publication Date
CN112009682A true CN112009682A (en) 2020-12-01
CN112009682B CN112009682B (en) 2022-01-25

Family

ID=73500248

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010782911.XA Active CN112009682B (en) 2020-08-06 2020-08-06 Bionic flapping wing micro aircraft for realizing high control torque generation based on double-wing differential motion and steering engine gravity center change

Country Status (1)

Country Link
CN (1) CN112009682B (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113844652A (en) * 2021-11-08 2021-12-28 北京航空航天大学 A bionic miniature flapping-wing aircraft using tail-assisted control
CN113911344A (en) * 2021-11-08 2022-01-11 北京航空航天大学 A bionic flapping-wing micro-aircraft using differential wing flapping amplitude for roll control
CN113911343A (en) * 2021-11-08 2022-01-11 北京航空航天大学 A high-efficiency transmission flapping mechanism with roll control function
CN114104283A (en) * 2021-11-08 2022-03-01 北京航空航天大学 Bionic miniature flapping wing aircraft lift force and rolling torque control method
CN114738137A (en) * 2022-04-27 2022-07-12 北京航空航天大学 A spherically convergent binary expansion nozzle with multi-axis vector control
CN115447772A (en) * 2022-10-25 2022-12-09 浙江大学 Super-light structure and bionic hummingbird flapping-wing aircraft with control system
CN115946854A (en) * 2022-10-31 2023-04-11 西北工业大学 Rolling driving device for flapping wing aircraft
CN115972831A (en) * 2023-02-03 2023-04-18 北京大学 Aircraft
CN116853547A (en) * 2023-07-21 2023-10-10 北京科技大学 Miniature ornithopter based on double rudder turns to

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040056149A1 (en) * 2002-03-15 2004-03-25 University Of Maryland Biomimetic mechanism for micro aircraft
CN102791578A (en) * 2009-06-05 2012-11-21 威罗门飞行公司 Air vehicle flight mechanism and control method
KR20140102433A (en) * 2013-02-14 2014-08-22 건국대학교 산학협력단 Trailing edge change mechanism as an attitude control mechanism of flapping wing aerial vehicles
US20140263826A1 (en) * 2013-03-15 2014-09-18 Francois MATTE Wing flapping mechanism and method
CN105059535A (en) * 2015-09-14 2015-11-18 江富余 Gravity trimming vertical lift aircraft
US20160068263A1 (en) * 2013-04-19 2016-03-10 New York University Flapping wing device
CN106828922A (en) * 2017-02-27 2017-06-13 北京航空航天大学 The position control mechanism that a kind of imitative insect wing is flapped
CN106864750A (en) * 2017-02-27 2017-06-20 北京航空航天大学 A kind of linkage of the controllable upset mean place of microminiature
CN107672814A (en) * 2017-10-13 2018-02-09 中国商用飞机有限责任公司北京民用飞机技术研究中心 A kind of ultimate control of aircraft and manipulation device and method
CN108438218A (en) * 2018-02-11 2018-08-24 北京航空航天大学 A kind of bionical hummingbird aircraft
CN109573019A (en) * 2018-12-25 2019-04-05 哈尔滨工业大学(深圳) A kind of imitative insect minisize flapping wing aircraft
CN110641696A (en) * 2019-10-30 2020-01-03 南开大学 Control mechanism of bionic hummingbird flapping wing unmanned aerial vehicle based on wing deformation
US20200172240A1 (en) * 2017-05-22 2020-06-04 Flapper Drones B.V. Flapping wing aerial vehicle

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040056149A1 (en) * 2002-03-15 2004-03-25 University Of Maryland Biomimetic mechanism for micro aircraft
CN102791578A (en) * 2009-06-05 2012-11-21 威罗门飞行公司 Air vehicle flight mechanism and control method
KR20140102433A (en) * 2013-02-14 2014-08-22 건국대학교 산학협력단 Trailing edge change mechanism as an attitude control mechanism of flapping wing aerial vehicles
US20140263826A1 (en) * 2013-03-15 2014-09-18 Francois MATTE Wing flapping mechanism and method
US20160068263A1 (en) * 2013-04-19 2016-03-10 New York University Flapping wing device
CN105059535A (en) * 2015-09-14 2015-11-18 江富余 Gravity trimming vertical lift aircraft
CN106828922A (en) * 2017-02-27 2017-06-13 北京航空航天大学 The position control mechanism that a kind of imitative insect wing is flapped
CN106864750A (en) * 2017-02-27 2017-06-20 北京航空航天大学 A kind of linkage of the controllable upset mean place of microminiature
US20200172240A1 (en) * 2017-05-22 2020-06-04 Flapper Drones B.V. Flapping wing aerial vehicle
CN107672814A (en) * 2017-10-13 2018-02-09 中国商用飞机有限责任公司北京民用飞机技术研究中心 A kind of ultimate control of aircraft and manipulation device and method
CN108438218A (en) * 2018-02-11 2018-08-24 北京航空航天大学 A kind of bionical hummingbird aircraft
CN109573019A (en) * 2018-12-25 2019-04-05 哈尔滨工业大学(深圳) A kind of imitative insect minisize flapping wing aircraft
CN110641696A (en) * 2019-10-30 2020-01-03 南开大学 Control mechanism of bionic hummingbird flapping wing unmanned aerial vehicle based on wing deformation

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113911343B (en) * 2021-11-08 2023-06-27 北京航空航天大学 High-efficiency transmission flapping wing mechanism with rolling control function
CN113911344A (en) * 2021-11-08 2022-01-11 北京航空航天大学 A bionic flapping-wing micro-aircraft using differential wing flapping amplitude for roll control
CN113911343A (en) * 2021-11-08 2022-01-11 北京航空航天大学 A high-efficiency transmission flapping mechanism with roll control function
CN114104283A (en) * 2021-11-08 2022-03-01 北京航空航天大学 Bionic miniature flapping wing aircraft lift force and rolling torque control method
CN113844652B (en) * 2021-11-08 2024-06-25 北京航空航天大学 A bionic flapping-wing micro aircraft using tail-assisted control
CN113911344B (en) * 2021-11-08 2023-06-27 北京航空航天大学 Bionic flapping-wing micro air vehicle for rolling control by utilizing flapping amplitude differential motion
CN113844652A (en) * 2021-11-08 2021-12-28 北京航空航天大学 A bionic miniature flapping-wing aircraft using tail-assisted control
CN114738137A (en) * 2022-04-27 2022-07-12 北京航空航天大学 A spherically convergent binary expansion nozzle with multi-axis vector control
CN114738137B (en) * 2022-04-27 2023-06-02 北京航空航天大学 Spherical convergent-divergent nozzle with multi-axis vector control function
CN115447772A (en) * 2022-10-25 2022-12-09 浙江大学 Super-light structure and bionic hummingbird flapping-wing aircraft with control system
CN115946854A (en) * 2022-10-31 2023-04-11 西北工业大学 Rolling driving device for flapping wing aircraft
CN115972831A (en) * 2023-02-03 2023-04-18 北京大学 Aircraft
CN116853547B (en) * 2023-07-21 2024-04-05 北京科技大学 A micro flapping-wing aircraft based on dual-servo steering
CN116853547A (en) * 2023-07-21 2023-10-10 北京科技大学 Miniature ornithopter based on double rudder turns to

Also Published As

Publication number Publication date
CN112009682B (en) 2022-01-25

Similar Documents

Publication Publication Date Title
CN112009682B (en) Bionic flapping wing micro aircraft for realizing high control torque generation based on double-wing differential motion and steering engine gravity center change
CN110091987B (en) A miniature vertical take-off and landing flapping aircraft
CN107554782B (en) It is a kind of based on flutter-fold-twisted coupling movement bionic flapping-wing flying vehicle
CN112009683A (en) Miniature double-flapping-wing aircraft
CN111301677A (en) Hoverable eight-wing flapping-wing aircraft and flight control method thereof
CN108438218B (en) Bionic hummingbird aircraft
CN112298552B (en) A miniature dual flapping-wing aircraft capable of autonomous stability enhancement and control and its control torque generation method
CN105151280B (en) Aircraft empennage regulation mechanism with pitching and yawing completely decoupled
CN110435888B (en) Flapping wing aircraft
CN107364574A (en) The imitative dragonfly flapping wing aircraft of variable amplitude of fluttering
CN111086634B (en) A dragonfly-like double flapping wing micro-aircraft
CN107226208A (en) All-wing is fluttered the five degree of freedom flapping wing aircraft being combined with wing tip active twist
CN112141331B (en) A miniature flapping wing that can achieve large deformation and high control torque
CN110703788A (en) A Stability Augmentation Control Method for a Micro Flapping-Wing Aircraft and Its Implementation
CN113844652B (en) A bionic flapping-wing micro aircraft using tail-assisted control
CN113830304B (en) Hovering bionic buzzer aircraft and control method thereof
CN107867397A (en) A kind of micro flapping wing air vehicle of linear ultrasonic motor driving
CN112009681B (en) A bionic flapping-wing micro-aircraft with adjustable flap angle average position and its flight control method
CN219056563U (en) Wing-like flapping-wing aircraft
CN113415409A (en) Non-control surface aircraft wing with variable camber
CN113306701A (en) Bionic hummingbird flapping wing aircraft
CN114044138B (en) Suspension aircraft for bionic whales and control method thereof
CN113911343B (en) High-efficiency transmission flapping wing mechanism with rolling control function
CN108639337B (en) A single-degree-of-freedom flapping wing mechanism that can realize space motion trajectory
CN112319800B (en) Bionic flapping wing aircraft imitating butterfly wing

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant